It's normal. The gears are not syncro like in a transmission sometimes you just have to be rolling a bit. It's a lot better on my D2 than it was on my D1, but It's still not smooth.

 

I have to really jerk on it to get it to move in the DI.

 

Yup, however it works best if it's in neutral without clutch depressed.

At least I'm not the only one with the issue

 

I had this also. If you read the owners manual they recommend you be moving in neutral. I let my truck roll a little in neutral and it drops straight in. Can be tricky to get used to but makes life easier and you don't feel like you are going to rip the H-L shifter off lol.