Just got a new c force 550, trying to break it in by going easy. When rolling in gear, with the enginge in idle I noctice a grinding sound, like rubber touching plastic about every half wheel rotation. I only get the sound when rolling in gear, not when rolling in neutral. I can also feel it slightly. Is this normal??

no. i have nothing like that on mine. the only thing i have noticed that i dont like is u cant crawl in high gear around 5 to 8 mph u have to hit the gas on an off. im guessing the dealer didnt prep it right.

Hitting the gas and not costing is due to the engine brake. The rubbing while in gear I have no idea. Doesn't make much sense to me why there is a difference between in gear or neutral.

[2015 Z Force 800 53/Trail EPS]

I am assuming the 550 has the same wet clutch system as the 500 and if so, the only difference between being in gear or in neutral is that in gear moving you would be rotating the CV clutches and belt where in neutral you wouldn't be. That also obviously rotates the wet clutch's bell.  Now it's true the tension on the CV belt all the time will make some rubber-sounding noise when the system is being turned by the secondary but you shouldn't feel it or really hear it with the cover on. An example of this sound can be heard at the end of this video when I am rotating the secondary to let the belt climb back up the get tension on it. If this is the sound you hear I would take it in. Jump to about 4:25

https://www.youtube.com/watch?v=ilf_GcOlx6s
 

The 550 has cvtech for both and are dry slam type. This noise has me stumped without putting hands on it.