Just stumbled across this thread. I have the same issue on a Clubman D, but I think it has the same clutch setup as the S. Visciously difficult to drive smoothly, the clutch is basically "on" or "off" with no in between.
Thought it could be related to the hydraulics but had the clutch fluid drained and refilled with no change. Thinking now it's probably down inside the bell housing - something like the throw out bearing or something. Have learned to adapt, but I have to focus hard on pedal action when driving. Kind of inconvenient to say the least.
My Cooper D 2013 with 8000 miles covered is exactly the same . Baulky , sharp clutch in various gears at various times. I have found being far more forceful and quick with gear changes helps but think this just masks the issue. It is worse when cold as well. A dealer trip I think but may just wait till the first service.
I don't know about the others, but in my case at least, the car has been serviced exclusively at an official Mini dealership since I purchased it new. Everything on the car is stock/OEM, trans fluid is original and oil is BMW/Mini approved fully synthetic.
Have been very gentle on the gear shifts and have rev-matched the car since the beginning. I am confident it's not a synchro issue and think it's related to the clutch release mechanism (pressure plate or throw out, I suspect).
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