Generally the clutch plates will stick after sitting awhile. When my motorcycle would do this I would first start and warm the engine then shut the engine off. Now put the bike in gear and while holding the clutch in, kick the engine over. This would break the plates loose.
If your engine does it all the time then it could only be one of two things. The first would be the pushrod adjustment. If there's too much clearance then it's not opening the plates all the way. The second, which I doubt because it only happens to clutches that have been well used and sometimes abused. The clutch basket develops notches where the plates ride and it's hard to open the clutch because the plates stick in the notches.
On a motorcycle there is always somewhat of a jerk, not matter how small, when selecting low gear. I think this is because there is some oil drag between the driving and driven plates which causes the clutch to somewhat turn even though the lever is pulled in.
Having worked on motorcycles almost all my life I find it hard to believe that the 'creep' would be designed into the unit. There would be no reason for it.
Here's something you might have a look at. Many years ago motor oil had metallic elements in the oil. As the pollution rules tightened the oil manufacturers started removing these elements or at least greatly reducing them. What they found was this was detrimental to motorcycle clutches so oil specific for motorcycles was produced.
Another thing that might help would be to change to fully synthetic oil, here again they have a specific blend for motorcycles although I know many people that use Mobil 1 for car engines with no problem.
gbritnell