I have a 2009 Stelvio 4V, and shifting from neutral to first gear (while stationary) can be noisy. When the engine/transmission is cold, this is not an issue for me. Any other time, here is what I do to lessen the noise: when at a stop, I hold in the clutch lever 5-10 seconds, then slowly but firmly push the shift lever down to first gear -- this usually works well, to some extent. When upshifting, I generally 1) preload the shift lever and then 2) quickly blip the clutch lever and shift -- this always works. And, prior to downshifting, blipping the throttle to match engine revs with what the revs will become in the downshifted gear make for a quieter gearbox.
Hope this helps!