"How could there not be a fix?"
I didn't say that. What I said was that good shifting habits can prevent it in the first place. There's a fix, but it's a matter of replacing the worn parts, not just adjusting your technique.
To understand what happens, you have to understand how your transmission works:
Each of the 5 (or 6) gear speeds consists of a pair of gears, one on the input, or main shaft, and one on the output shaft. All of the teeth on each of these pairs stay meshed at all times, and in each pair, one is locked to one shaft or other by splines, while the other spins freely on the other shaft.
To engage any gear, which is to say, to lock the free spinning member of any gear to its shaft so it can drive the rear wheel, the splined gear sitting next to the free gear moves over to it and locks the free gear to its side by means of lugs on the gear's side that engage with a matching set of lugs or slots in the side of the free gear. The power then flows from the driving shaft to the driving gear by its splines, to the driven gear, to the splined gear on the driven shaft through the locking lugs, and to the driven shaft.
A manual trans in a car works on the same principal, but when the locking lugs there get worn badly, the gears get forced apart from each other and move the shift fork and linkage so that the car comes completely out of gear into neutral. But in almost all motorcycles, the fork is moved by a grooved cam instead of a linkage, so the gear cannot move the fork when this happens.
Instead, when the force of the gears pushes hard enough to cause the locking gear to "climb over" the lugs, it has to flex the fork far enough to allow it. For that instant, the trans is effectively in neutral. As the gears rotate over one another, the lugs realign, and the spring load of the fork forces them back into engagement, resulting in an obvious jerking in the driveline. The force builds again, separates the gears again, and the cycle repeats.
All of this wears and eventually permanently bends the fork, which makes the condition even worse.