Yes, it is possible to get smooth with clutchless upshifts, but they do take a toll on the gears and shift dogs. Maybe not right away, but I've heard of way too many riders who end up with $$$ repairs as a result after 15-20k miles. Otherwise, a bike's transmission should go over 100k. You don't need to pull the clutch lever all the way for a "normal" upshift. Try half or even a third of the way as a compromise. The clutch is there for a reason.
