Car: 2005 Volvo S80 non-AWD 2.5T - Automatic

Problem: Since last week, whenever I try to put car in drive or reverse, the gear gets stuck and I cannot go past reverse(R) in either direction. Basically, when I start the car for the first time and try to put that in reverse(R), the gear doesn't go past Park(P). After few tries, it works.

Similar issue happens when after driving (during parking), I try to put my car back in Park(P), the gear doesn't go past Drive(D)

Does anyone know what could be the problem? Is there any kind of switch/sensor called Park-reverse sensor?

Car drives fine except when I go past Reverse(R) position

 

I would remove the console and inspect everything inside.

 

Problem resolved:

It was the gear switch that is in the gear handle that we have to press in order to engage car in the gear. The plastic switch was broken and thats why it was failing sometimes and sometimes it worked.

Thanks.