Volvo vnl ULTRASHIFT(2 pedals) stupid issue,please help

volvo vnl d12 2007 Ultrashift transmission , last 6 VIN 444 220 ..

transmission working perfectly fine while being driven, once when you stop,put to neutral and want to put in gear again, truck get confused,making beeping noice and and do not wanting to put in gear . sometimes you need to keep brake pressed for a few minutes(from 2 minutes to 1 hour) so it can put in 1st gear.

If you are on little down hill you can let truck rolling in neutral and press D button when you are going 5mph and he will switch to gear without problem.
i loose every day 2-3 hours with this thing,many times i was stuck on middle of intersection!

it is not helping taking batteries off,restart with board computer or anything else..

replaced 6 speed sensors, replaced harness and replaced Range valve. still same issue

It feels more that it is some kind or electronic issue more than mechanical but i am not sure

Please respond if you know about this type of truck issue

 

No any codes, no any lights, only he is beeping and flashing gear number.. somebody else told me also it can be clutch.. $1800 for parts only !