Unfortunately it's not something that will be able to be diagnosed from a computer screen.
You'll need to start digging. RHS engine case. Check the shift assembly and make sure everything is as it should be. Clicks through the gears. Springs are in place. No fatigued welds on the selector/acutuator. Check the shaft isn't bent.
From there it's only going to become a bigger job.. and I'd be inclined to agree with Neils thoughts.
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