Big diesels have a narrow band to shift (pretty well a single target rpm to "pull out" and another, lower, one to "put in". They're all different [Cats wind down so slowly you can pour a cup of coffee, a Series 60 Detroit is more like a FE Ford; Cummins seemed to sort of split the difference on the modern engines). Clutch is used only to start, pretty much, and one learns to feel ones way through a non-synchro transmission over some time. May take 3-5 years to become acceptable, and nearly a lifetime (in some cases) to never miss a shift. (Unless one is named Herb McCandless: born with the right genes). The rest of us learn -- hopefully -- how to miss a shift and not have to [no joke] pull to the side of the road to start over. "Finding" a gear has real meaning with 70-80,000 lbs on a 6% downgrade. The brakes can't hold it.
If one prefers to use the clutch, the action is short and sweet. Unless you've got 100-miles from Houston to Huntsville on Friday evening in stop-and-go traffic. Then it's foot to the floor every time, and trying -- literally -- to avoid cramping. 1700-1900 ft/lbs torque takes one helluva clutch.
Turn off the radio, crack the window, and listen for what it wants. Sound and feel will go a long way in helping. Make you a far better driver, too, if you never accept sacrificing the clutch to existing road/traffic conditions.
Timing is everything in driving well. And a tremendous pleasure to problem-solve EVERY day one drives.