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Besides, (in my opinion) it's clearly a skill issue here (it's an issue because of one's lack of skill) but I understand that getting used to clutch may be frustrating at times.
Answering the original question in the thread: I don't know of such option, maybe some assistants may alleviate or deal with this problem. I don't know because I quickly stopped using any assistants related to shifting (I want a simulation (from BeamNG.drive), not yet another arcade game). I admit I haven't checked all the options this thoroughly to notice this particular option (if it exists).
It's called unrealistic BS tbh. I have been driving manual transmissions all my life in RL, not to mention in other simulators (AC, RBR etc.) and never have I ever had anything close to these problems in BeamNGs manual gearbox. You can press the clutch like half a second before the shift and the game STILL thinks it's a gear crunch. Whatever they changed with recent updates, they need to reverse it.