Ford Fiesta clutch actuator gremlins

Hello everybody,

i have a question regarding the problem with my MK6 fiesta that are equipped with ASM. recently my fiesta start having problem with the actuator. at times after i drive the car for 30 minutes and stop the engine, it will failed to start the engine with the yellow cog of death light appeared. the only way to start the car is to hammer the clutch actuator until i hear the clutch actuator start to work. so i took off the actuator and remove the motor housing, i found out that the carbon brush is barely touching the rotor. so i had to order the carbon brush and install it to the actuator. i tested the actuator using 12 volts power supply and it is working perfectly. 

then i reassmbled back the clutch actuator and install it to the car, now doesnt even want to start. no gear display but the yellow cog of death still appear. i did checked with launch diag tool and only code P0810 appears. tried to reset it but the code keep on appearing even without trying to start the car.

so my question is, do i need to reprogram back the TCM at the dealer? or my TCM is toast? i removed the tcm for 4 times checking the contacts on the motor, it is fine. no issue at all. however i notice when i turn my key to the on position without starting the car, i can hear the gear actuator linkage (long) keep on moving front and back, its like measuring something.

anyone ever experience this situation? Thank you in advance.