I've had 2 or 3 times reached an idle "gear" between the 5th and 6th gear with my 01 model. I know a lot of Hayabusa riders with this problem, but it is no "pain" to shift. It happens only sometimes. In a german motorcycle magazin (Motorrad) the 50000 KM test of a Hayabusa (99 model) shows bad...
I don't think, that only changing the fluid helps for more than a few weeks without cleaning the slave cylinder as Narcissus said. My clutch didn't work (no connection with a cold engine) at about 12000 Km. The dealer cleaned the slave cylinder and the bike got new clutch fluid. Now it's Ok...
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