As hard as I have tried I can not drive the X like I have other vehicles, so I had to learn to drive this transmission. 5th gear is particularity finicky. what works for me is paying attention to exactly when I grind, like if going up hill you slow faster during the time it takes to complete the shift so I shift at a higher rpm and try to get it done faster, there is a sweet spot you just have to find it.
I drive and no clutch shift in most vehicles including the X. I use the clutch to start out and to shift into second and then speed shift after that, it took some time to learn this and it is definitely not for everyone, but it teaches you the timing to shift better with or without a clutch.
My advise is this: when you are ready to shift lift of the gas and pull out of gear without the clutch and then push in the clutch and immediately select your nest gear. You will be amazed at how fast it will fall int the gear. Thy this in your third to forth shift first and then second to third before moving on to fifth. Perfect this timing and your problem will solve itself. I have made a video of this and will try to post it up.