Only about 5,000 miles a summer on the Harley, so not heavy riding, no. The Honda sees more limited use since it's registered as a collector vehicle (30+ years old).
But mine definitely don't clunk into first unless they've sat for a while. The first shift into first each morning is always a "clunk" with a slight jerk forwards. After that, no more forward jerk when engaging first while stationary unless I let the bike sit for a long time. What I describe is generally considered common on every bike forum I've ever been on. You're literally the first person I've ever come across in my life to claim it happens every time you go into first.
EDIT: To be clear, I'm not saying that there's not a definite "ka-chunk" when going into gear from neutral after warm-up. Just that it's noticeably more pronounced on the first engagement when cold.
ZV