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But more likely you are just clutchless shifting which can be done IRL as well. The way game works, is that it tries to follow the position of H-shifter no matter what (as if you push hard on the stick IRL) so when the revs match it jumps into gear.
There are cars that will penalize you for trying to clutchless shift more than others, it really depends on the car.
We dont have g-forces simulated, thats the problem... but stuff like butt kicker or well set sounds can help. Heel and toe is usually one move, so its on muscle memory rather than reaction to some feedback.
The best way to learn that muscle memory is to get an pedals app on screen (enlarge it even) and just cross check visually what the feet are doing. There is even "traces" app on racedep, great for troubleshooting. As would be just watching a replay.
Its really not hard to heel and toe in sim even with basic hardware.