I've run the Suzuki full synthetic for years. I did use semi synthetic prior to that. The 06-10 are known to have gear box issues. Mine, not so much. Either I got lucky of the oil does it. I used to get the shudder when I was running semi synthetic. Since I started running full synthetic, it has gradually disappeared. Didn't happen once last year. 2020, it happened twice iirc. 2019, three or four times. But on mine, it has never been violent. Shop mechanic described it as "a grabby clutch". That was in 2018. And I'm willing to bet he didn't warm it up before riding it. That's when it typically happens to me.
Mine is 300 miles away from 40,000.