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You don't "pop" the clutch at all!! You just slowly let it out.
For example in my car, if I'm rolling at 35 mph, I put it in 5th gear and slowly let out the clutch and you can't even feel it start.
At 25 mph, same gear but then after restart I drop into 4th to get back upto speed.
This process should be soooooo smooth that if there was a passenger they wouldn't know what you were doing unless they seen it.
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