yes, the syncros help your gears "mesh" together.
Change to a nice synthetic gear oil like Redline (NS or shockproof) or Motul.
Double clutching, rev matching, and heel-toe down shifts will also help.
On the GTX the shifter cable bushings also wear out. The cables are very expensiev from Mazda.
If yours are worn, sounds like it, goto
www.jacsport.com and order their bushing kit.
It's made from UHMW urethane, should never wear out, and is self-lubricating if that really matters.
clutch adjusted properly?