If you feel it like that, you're not hurting anything. Build up some momentum, preload the shifter at a steady throttle load, then briefely crack the throttle partway closed then right back to where it was. It feels like an automatic. It works best when you're really on it! Don't be afraid to preload the shifter. It wont grind or shift or anything, until you equalize the load on the trans with the throttle.

Downshifting is harder. As bobval stated, speeds have to match up. When decelerating, you probably wont equalize the gear speeds, unless your just coasting along. A clutchless downshift technique that I use all the time is on accelleration. When looking to pass, I lurk the car in 4th. When the time is right, I crack the throttle off & on, like on the upshift, but stepping the shifter down into 3rd. Be sure to be on the throttle after the shift. That FJR will shoot out around the car, without wasting a second. Try the clutchless upshift into 4th as you pass the car's mirror. Again, use throttle liberally.