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@Veblen
Was gonna state the obvious and tell you to follow religiously the dealer's manual (starting at p.64), but @hippy already covered that.
Have you tried taking advantage of that and go into adjustment mode when you're on the 6th sprocket then? Might offset the whole thing (without fixing the root of the problem, but hey ;)
Also, I think I experienced something vaguely similar when setting mine up (but it's been so long I can't remember exactly what it was), and I think it had to do with the trim being offset : when the derailleur was on the fifth sprocket, I had alread used all of the 16 adjustments steps. I don't remember how I fixed it unfortunately, not sure what can be done to reset it except the standard "after crash" procedure, as @Matt101 is suggesting.