If you switch when the revs are high enough, it's OK to jump over a gear. The V6 should have enough torque for that. I switch, for example, from 4th directly to 6th with no problem. However, when you do this, make sure that the revs don't drop behind some 1500, otherwise the engine will struggle and clutch will wear.
However, I fully agree that moving off in 2nd is bad practice and will always lead to premature clutch wear. Don't do this, unless in winter when there's slippery snow on the road.
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