What RPM are you supposed to shift at in a 2001 Ford Mustang V6 3.8L 5 speed?

I've been shifting at 3k, but here lately it has been really hard to shift the gear into place using the stick, so I started shifting at 2k and its been much smoother but I get off a whole heck of a lot slower. Which RPM is best suited for the type of vehicle I'm driving?

Engine speed should not be affecting shift action. You might want to have that gearbox looked at. (Worn synchros?)

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