It's a clutch issue.
You said it has twenty thousand on the clock but how old is the bike :ummm:
If your clutch is slipping under load and high gear the plates may not be fully engaged.
First things to check are the easy stuff.
1) Is the fluid level correct. If not correct.
2) Bleed the lines to eliminate the possibility that you have air in the brake lines. I doubt that this will cause slipping but it will cause hard gear changes.
3) If you do have air in the lines how did it get in there? Check brake line fittings for correct tightness and for signs of leaks or cracks. Air can enter the lines via the master cylinder when fluid levels are to low.
I have said this in multiple threads before but I'll say it again in this one.
The most likely cause is the hydraulic piston in the slave cylinder binding up on degraded o-ring seals, water corrosion and rust particles that build up when your hydraulic fluids are not changed at the required 'use by' dates.
Brake fluid is hydrophilic. It loves water and absorbs it over time. If the aged fluid is not purged from the lines and reservoirs, the rot sets in and the slave piston ceases to move through its full length of travel. This will stop your clutch fully engaging and, when severe, can also prevent it from fully disengaging.
Don't jump to the conclusion that the clutch plates are worn out because unless you ride like a maniac all the time or have a highly modified engine with lots more power, the EOM clutch plates will last a long, long time and are unlikely to slip.
Don't jump to the conclusion that synthetic oil is the cause. This is not common and most likely highlights a pre-existing problem like a faulty slave cylinder.
Your description of the colour of your fluid suggests that it may not have been changed and the damage has been done to the slave cylinder assembly.
Bleeding the old fluid through after the corrosion and seal damage has started won't fix the problem. You will need to disassemble the slave cylinder thoroughly clean it and fit a new spring and seals. If the housing or piston are pitted, replace the whole assembly, it's cheaper.
The most common causes of clutch slippage are the ones I've just outlined.
These are also the most common causes of hard gear changes. (loose, worn and damaged linkages having been eliminated).