Brand new 04' with less than 500 miles. 5 Speed manual.

There is a vibration or shimmy when accelerating in 3rd gear and in 5th gear. If I press the clutch in for 4-5 seconds before shifting from 2nd into 3rd, it ussually alleviates the problem, but i don't feel i should have to take this long just to avoid the vibration. I took it into the dealer this morning and they said it was normal and all of the ravs do this.

Anyone else have issues with this.?

Also if i could get some pointers or advice on when i should shift from gear to gear. what RPMs are recommended. I have been shifting at aprox 3000 RPMs right now.