Mine was like yours with the shifting getting a lot smoother with time. I had the clutch update done and after about 75 miles it started to shift hard again and after getting it warmed up, if I let it sit and idle, the oil light would come on. My dealer told me to bring it right back in, (great dealer as I know that they are at least 3 weeks out on any repairs) and the tore everything apart and found that one of the little O-rings had gotten sliced when they slid the head back on. Fixed and if it is possible, it shifts so much better than it did.
Very happy with my Pioneer.