Practice practice & more practice really.....
But on the positive I find the M5 has a very linear throttle
response which assists greatly in matching engine speed with
The pedals are well positioned for heel & toe also, so the world
is your oyster !
Sit in the car stationary with the engine running, gently place you
right foot on the brake pedal, depress slightly (as per light braking)
then roll your foot slightly to the throttle & give it 3000 revs.
Repeat the technique until you can do it without looking.
Now find a quite, long straight road.
Run along in 3rd gear up to 3500rpm.
Change up to 4th.
Maintain steady speed.
Now.....gently brake, change down to 3rd & roll your foot to give the
revs a blip (just as you practiced stationary).
If you get it right...extra smooth shift.
If you get it wrong...jerky shift.