I had a teacher who was very keen on finger swapping, and I'm sure he would have suggested the following. In the first beat you have 5-1 playing the D-G, then the middle voice does F-2, E-1. Then play the C in the upper voice with 4. Now you do a quick 4-1/5-2 swap, so you are holding the C with 5 and the E in the middle voice with 2. Then you can play the D with 1 without sliding. I just tried it out and it seems fine (but then my teacher really drilled me on those sort of swaps, as an exercise I used to do scales in sixths 4-1/5-2, doing the finger swap on every note.). Give it a try and see if you like it.