In reply to cb294:
Sounds a bit like your derailleur could be bent slightly, or at least the cage. If you follow the Shimano setup procedure fully to align the 1st and last gear with the stops, and the shift point with the cable adjuster, but it still goes funny just in one part of the range, the symptoms can be as described and there isn't much else that can go wrong I think, other than guide wheel to sprocket spacing possibly.
I had it before after a crash, and it took a bit of trial and error to realign everything so it shifted smoothly across the range.
Did you have a crash on the bike perhaps? Otherwise, I could only think of some wear, crud or damage in the cassette which has caused some inconsistent gear spacing or alignment.