Hard to say but normally this seems to be more a hydraulic control issues instead of gear/clutch issue. This is managed by the mechatronics / valves which has really easy access. Just needs to remove oil pan. Attached picture for reference only.
I would suggest to replace the fluid/pan filter (as preventive) and replace valves/mechatronics if necessary. It will require some diagnosis work.
Follow some information after quick search
https://www.sonnax.com/parts/4590-zip-kit
If whole mechatronics is replaced need to write the VIN number on it to match your vehicle. This needs to be done before installation but there are people who offers the service ... just need to look for them.