This might be a good time to see if Dave wants me to write up a detailed tech article for the home page.
I used to always tell people to use the clutch for shifting (a sequential) up until about 5 years ago when we started really digging into the Gen 3 shift mechanism design and having a more comprehensive understanding of setting up no-lift-shift, and really understanding what needs to happen to make them shift properly.
Now it is true that older Mendeola and current PBS shift mechanisms are not the best. These are well known to have issues shifting quickly enough on their own, with or without the clutch. This is what leads to dog wear.
I now feel that using the clutch for upshifts can actually cause more wear on the dogs compared to shifting with the clutch, as long as the foot-to-hand coordination is there (and not everyone has that).
I believe that using the clutch to upshift, when done too slowly, can cause the input shaft to slow down too much before the shift lever is pulled. This is when you let off the throttle pedal, push the clutch pedal down, then pull back on the shifter. This is typically no less than 1 second even for the fastest feet, more like 2-3 seconds. Keep in mind that the transmission shifts in less than half of a second once you push/pull on the shift lever.
Where as preloading the shift lever, then yanking back once the torque has released, will allow the dogs to pull out of the gear they are in and throw into the next gear much faster. When the shifter is preloaded, you are effectively loading the dogs against the gear they are in (the engine torque prevents the dogs from pulling out of gear due to an undercut in the dogs that hold them in gear), once the engine torque releases you can usually feel the shifter release, then make a full pull back to shift.
If the input shaft slows down too much, the dogs can "reverse thrust" on the decel side of the dog. I have had a few conversations with customers saying they could not pull on the shift lever if they were too slow to shift. The car will start to slow down enough that the weight of the car starts to push against the decel side of the dogs, effectively locking the fork into the gear it is still in.
Dog engagement gearboxes have to be shifted as fast as possible. You are not relying on a synchronizer to match the speed of the gears and allow it shift easy. You are quite literally slamming the gears (or dogs) into each other.
Something that helps to keep in mind is that when you are pulling/pushing on the shift lever, you are really only pulling the shift fork out of the gear it is in. Once the roller in the shift ratchet mechanism rolls over the top of the ramp, the spring takes over and quite literally throws the fork into the next gear, which you have no control over. A full push/pull on the shifter is really only half of the actuation.