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Stuck in reverse

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I've recently purchased a 2012 Ford Focus 1.0l ecoboost (99) zetec. It has just over 21,000 on the clock.

The problem I'm experiencing is that after reversing for a longer than normal time. I have real difficulty taking the car out of reverse. 

Normal reversing, in & out of parking spaces doesn't seem to cause this problem to occur, yet.

Not sure if it's linked to this problem but my reverse parking sensors don't always work.

Any ideas, help on what's happening would be greatly appreciated.

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