Was out with my mate today on his 2016 R1200RS, which is basically same Euro 3 as my GS. He said he barely uses it as it tends to bang through the gears and feels really jerky most of the time. We swapped bikes for a bit and he said mine was exactly the same (not how I find it). I told him how I use mine:
Upshifts - always roll on the throttle for each shift (doesn’t take much)
Down shifts - always roll the throttle to the stop (put a bit of pressure on it)
When we stopped again, he said it was a revelation, never felt it so smooth. I tend to ride my bike between 2500 and 4500 when out on the open road. For me, this is the sweet spot for the GSAP. Anything above 4500 and I will be in top anyway, as it has enough torque to pull like a train from then on.