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ZF in two gears?

Once in a while my ZF seems to be in two gears at the same time. I’ve noticed when I shift out of reverse into another gear and begin to let the clutch out and the car won’t move and feels like the transmission is locked up. I push the clutch back in and cycle in and out of reverse a couple of times and things seem fine. The problem only happens when the car is on an incline.

This has only happened a few times but I’m afraid if I don’t fix it a catastrophic failure is in my future.

Any ides???

Thanks
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