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2001 Camry manual transmission bucking after cold start in lower gears

I have a 2001 Camry CE w. 5SPD manual transmission. Since it was brand new, it always had a problem in the 1st & 2nd gears. When you start it up, after it has been sitting for a while, especially overnight (doesn’t matter that I have it in the garage) & drive without letting it warm up, it started to buck & jerk back & forth… The dealer looked at it several times, couldn’t find anything wrong. When I drove it with the tech writer he said it’s “normal” although having driven many cars w/ stick shift I know it’s not. Now w/ 124K of mileage, the problem is much worth - it moved to 3rd & 4 gear & doesnt matter that I do let warm up right now. The bucking does go away after a while of driving it, but couldn’t narrow down the exact time it takes it to become “normal”. Never seen a problem at highway speeds highway driving, but it does take me 5-10 min. to get to the highway…