I have an '07 that is really starting to piss me off...it lurches and quits when I put it into first....when I slow to a stop in traffic, the clutch does not dis-engage all the time and the bike lurches to a stop...the bike wants to continue to move forward and I have to REALLY apply the brakes with the clutch pulled all the way to the grip sometimes killing the bike. This has caused the bike to stall...today, I rearended a car at a stop...I have had it into the dealer three times and the only thing they have changed was the oil... said [oil] f**king up the bike...I have 4800 miles on it and I'm getting worried about riding it.
All your symptoms are in line with what seems to be an issue with a number of Gen II bikes, which is sticking clutch plates. As you have discovered it is a safety issue (glad you and your bike are ok!). You need to have your dealer contact Yamaha and discuss sticking clutch plates. This is a known issue, a knowledgeable dealer will disassemble the clutch, clean the plates and soak them in oil to cure the problem, and do it under warranty. You may need to find another dealer; you may need to call Yamaha yourself. Search this forum using +sticking +clutch as your search terms and you should get several pages of similar clutch stories, but more importantly, what the owners did and how they resolved their issue.
Get it fixed
real soon, we don't want to read another crash story.