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It sounds like you're simply not matching the revs on upshifts. Practice going from 3rd to 4th and back, then 2nd to 3rd while maintaining the same speed as best you can. When you let the clutch out, the engine speed/pitch should not change and the car should not jerk in any direction. Don't worry about double-clutching—your issue does not sound related to synchros.
When you floor the throttle while cruising along at 2,000rpm, the car should accelerate with no great fanfare. If it's balking, bucking, or hesitating, it's likely an air/fuel tuning issue, rather than anything mechanical.
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