Shifting Recommendations

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I've definitely noticed very little change in my MPG by raising my shifting point. What I have noticed, is a bigger grin on my face, a much more enjoyable bike, more love for my bike, and a much more responsive bike.

 
Do you have knowledge of any instance of a warranty claim being denied because of shifting above the "recommended" shift points? They are not prescribed.
None. But I also have yet to hear of a story where Yamaha (or any other bike manufacturer for that matter) were willing to take on a split case transmission repair as a warranty claim. A lawyer could in theory point to the manual and ask "Did you shift this way?" while you're under oath should the matter be taken to court. Not that something like this would actually make it to court, but what I'm saying is they can tell you to pound sand and feel justified in doing so. "MISUSE" or "IMPROPER SHIFTING TECHNIQUE".

 
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