Suggestion on 2 nd. gear before first is a great technique. It aligns the the shifting mechanism. I know we should NOT have to do this with a modern transmission but if it works then do it.

Just some other thoughts. It is TIME to have the fluid changed in the tranny for its lifetime fluid change. Since it has so few miles I would use time as my criteria. Once you do this it may be smooth again. Perhaps you are low on fluid. Or the last thing maybe it could be time for a new cluth.

When I put a old car on the road that has not been driven for sometime the first I do is change all fluids, filters, plugs etc. Let us know how you solved the problem.