Shifting from 1st to 2nd ending up in neutral is solved on my xg750 by the dealer.
They removed the clutch, found the shifter pawl (shifter shaft assembly) to be way off center and adjusted it to be centered.
See attachments.
History: I never had a problem like this until the 1000 mile service. Of course once in a great while it would happen, caused by my inexperience. After the 1000 mile service, on a 17 miles ride with a lot of stop signs, it would happen frequently ( approximately 5 times out of 20 stops). One time, I could not get it to second gear trying 2 or 3 times, until having to go down again to first gear, then I could go up to second. That time someone almost ran into me from behind. I brought it to the dealer, they could not recreate it and they adjusted the shifter and such just to make sure everything is perfect. On the way home, again, the same issue. About 5 out of 20 stops 1st to 2nd gear ended up in neutral. Brought it back to the dealer. They had used the synthetic 20w-50 oil at the 1000 mile service. Since that was the main difference, I asked them to replace it with the normal oil which was used originally by HD. Since this is California, the dealer had only 20W-50 oil and no one knew if HD used 10W-40 originally, since it was produced in November. They replaced it with the 20W-50 oil. That made some difference, now it failed approximately 1 out of 15 stops. Second time it failed, my son was riding and almost got hit from behind since he had to shift back to 1st to be able to go to second gear. We turned around, brought it back to the dealer, they took it seriously, found the problem and it appears to be fixed.
This problem was worse than the original lag and leap problem, because it could happen at any time and usually happened at the worst possible time.
So, some of the 1st to 2nd shifting ending up in neutral may be inexperience or footwear, but if it is happening frequently and sometimes you need to shift back to first, it could be caused by misalignment of the shifter pawl and aggravated by oil viscosity.
Anyway, I sold my xg750 to my son and bought myself a 2016 Dyna Low Rider. This way, when I get too old to handle the Low Rider, I will trade with him.