Ford Focus 1.6 tdci cvt 2005 (new shape)

Gearbox works fine,then sometimes when i stop,there is a slight thud and gearbox malfunction light come on.The gear leaver then becomes very stiff also vehicle is slow on take off.If you switch the engine off and restart it clears the fault,after driving for a while fault re apears when you stop.

Fault codes.
P0961
P0871
P0701

Any ideas,

Thankyou