Quite a few of us have had this problem on fairly new bikes which by all accounts have not been abused. My suspicion is it's a thrust tolerance problem in some bikes or possibly related to sticking clutch plates. In my case, since the repair was completed, the bike shifts MUCH smoother than it ever did before, particularly on the upshift to 2nd.
I made a post in the thread linked below about a possible angle on legal options which might be of use. In several of these threads people are saying "should have got YES..." but I can tell you from personal experience, YES isn't a 100% guarantee that a problem like this would be completely covered under warranty. In my case it wasn't, and I was only reimbursed for the repair after much teeth gnashing and prepping for a legal dispute.
https://www.fjrforum.com/forum//index.php?a...&pid=404936
Good luck.