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In big rig truck driving this is called "floating gears." There are thousands of truckers out there who have driven decades and millions of miles without using the clutch except when starting from a dead start. Big diesel engines are easy to shift this way because the RPM's drop so slowly when the throttle is relaxed do to a big mass giving a greater flywheel effect.

With the AT, I would try and practice shifting by using a half clutch squeeze, this will then lower the load on the gears but will not be a full "shifting without the clutch." Using a half clutch and trying, with the throttle, to match the engine RPMs with the trans RPMs will give smoother shifts. My take on it...
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