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Its more about practice than anything else. If you have the 4.0L engine, the torque that the motor has makes the clutch very forgiving as I can roll off of the clutch on flat ground without any gas input and as long as I do it slow enough, it'll just start crawling. And that's in 2H with 3.07 gears and 31" tires. 4L and you can almost dump the clutch in 1st and it won't stall and it will just keep crawling.
If you're talking off roading, the one piece of advise that I will give you is that you don't have to shift all the time. Leave it in gear as much as possible as operating the clutch while bouncing over rocks etc. can be a quite jerky affair.
Practice definitly makes perfect. With enough of it, you'll come to love your 5-spd and wonder why anyone would want an automatic. And if you mess up, the worst that will happen is that it will stall.
