Gear recovery can be learned a few different ways.You don't always have to come to a complete stop if you miss a gear.
By becoming very familiar with your gear pattern and by paying attention to general speeds for each gear, you can use 3 different methods for gear recovery.

The Rev-Match method involves giving the throttle small blurps while gently trying to push the shifter into gear. The clutch is not used in this process.

The Tickle Method does not involve the clutch either, but uses slight pressure on the shifter while slowly pushing the throttle to find the gear hole.

The Go-To-Gear is when you master a midrange gear and wait until your road speed slows down enough to hit that gear.

Always try to remain calm and avoid forcing it into gear.