In order for the gears to mesh properly they need to be close to the same RPM. When they are close enough the syncros will do their job. There seems to be a level of wear on your second gear syncro, that leaves you wanting.
However while you wait 5 seconds the engine RPM drops to idle speed.(the clusters find their own RPM) The main shaft - driveline - RPM is road speed.
If you think about it, while under acceleration, we come out of second gear after having worked the engine to a higher RPM. So when expecting to down shift, check road speed, and imagine what the engine sounded like. During the five seconds get OFF the clutch, zip the throttle, bring the motor to a noise level a little louder than what it sounded like before upshift. Now find second, clutch in, engage driveline.
This is a successful double clutch. I understand you don't want to do this. I also understand you should not have to do this. In its present state your trans is asking for it, you are already pausing too long to have the RPM match up. The thing about taking your time means giving the syncros time to match up the RPM
As stated by Brian - New Zealand
"The synchro's need time to spin the selected gear to the matching RPM's."
(or in other words find the gear - not only the lever position but tooth to tooth RPM) - Which happens best on a down shift if, engine RPM is slightly higher than required by road speed.....Or... the second gear syncro is healthy.
To recap what all this means, There are three revolution speeds involved when shifting gears. The driveline (rear wheels, drive shaft, trans main shaft) This speed can be found with the speedometer or, if you're good, judging the road. The engine speed (plus flywheel, pressure plate) can be judged by ear. The third revolution speed is, the input (front) shaft with clutch disc and the cluster gears (first and second). The RPM of these parts
can neither be determined, or controlled, when the gear selector is in neutral and the clutch is depressed . They are on their own-(neutral clutch in)-. So....Fine when syncros work well its not an issue. Depress clutch select a gear and go.
Since you already take five seconds to attempt a down shift, I figured I may as well give you the process of successful double clutch. It can't hurt when done properly. Just be certain that when you gas it to control engine speed that there is no pressure on the clutch pedal. Otherwise the trans won't receive the message.
I wish you luck in getting your trans sorted out.
The link below is by Mac V P explains synchro wear with pictures.
http://www.fordbarn.com/forum/showthread.php?t=163599