2012 S60 Powershift no Reverse - Intermittent
 

Hey,
I bought my 2012 S60 used about 6 weeks ago, and I've been experiencing problems with reverse for the last few weeks. When I engage reverse, R is displayed on the dash, engine revs, but the car will not budge. If I shift to park and back to R, or D and back to R, the car will move. Turning the engine off and back on also works. The problem occurs only half the time, and all other gears work fine. I did a scan using vida and got the following:
437: TCM-P073E77 Unable to Engage Reverse. Mechanical Failures. Commanded position not reachable S60 (11-), 2012, B4164T, MPS6, R.H.D, YV1FS485BC2111566, 111566 14/10/2018

I was wondering whether there's anyone who's experienced the same and could offer some advice on possible solutions. Would greatly appreciate. Cannot afford a visit to the dealer at the moment.