I'm a newbie to Volvo Forums and this is my first post.

I have a 2005 Volvo XC70. Not always but often, when I arrive at a destination, I find I'm unable to shift from Drive mode to Reverse or Park mode. The transmission moves from Drive to Neutral but not beyond to Reverse or Park. I cannot turn off the engine and remove the key when the shifter is stuck that way.
When this happens I notice the plastic **** in front of the shifter seems stuck and lacks any play. I fiddle with it and after a minute or two or longer, it eventually loosens and then I can shift to Park, and remove my key and go on with my day.

This is frustrating as I can't predict when the shifter gets stuck in that way.
It is also hard for me to demonstrate to my mechanic.

It is very likely members in this forum might know what is going on, what I need to test or what parts to get so my mechanic can fix it.
As you can tell by now, I lack the background to be the mechanic.

Could those familiar with this issue please guide me?
A little "research" I did brought up the Shifter Claw Kit but that may be a red herring.