Do you have your chain properly adjusted?
It should be around 25-35mm at the mid-point.
If there is too much slack, it will allow too much movement along with poor shifting.
The reason for that is extra slack will allow extra chain whip, causing the output shaft to rotate back and forth causing missed alignment with engagement dogs, and possible missed shifts or false neutrals.
It should also not be too tight. That puts tremendous strain on the chain and sprockets, plus all bearings in the path.
Better to run too loose than too tight.
While there is some gear lash in the drive train, from the the crankshaft to the the output shaft, there's nothing that can be done about it, short of redesigning the engine.
The RC51 does have an abrupt throttle, and the combination of greater rotating mass from the two pistons and flywheel over a 4 cylinder does compound the problem.
Most of the complaints about this behavior is during low speed operation, where the engine is below 3500 RPM and in lower gears, such as 1st through 3rd in slow traffic.
I've found the best way around this is to try and keep the engine around 4000 RPM and make smooth throttle gestures.
It also helps to cover the clutch lever with your hand, so you can disengage and reengage the clutch if traffic forces throttle action to induce the bike into jerky movement.