2015 volvo 730 i-shift Transmission not going into Drive. Please help!! Thanks

Hi,
I have 2015 volvo 730 with i-shift. When I put it into drive (D) the truck does not move. When I put it into neutral it feels like its going into reverse. There are no fault codes in diagnostics. The truck has 780,000 miles. I had a problem few times before where the truck wouldn't go into Drive. I would then have to turn off the engine and turn it back on again and it would continue to work. I have also had issues with speed sensor and replaced them. Also fixed the wiring on the battery terminals recently because truck was losing power. What can be the problem please help? I hope I don't need a new transmission. Thank you for all your help!!!

 

I tried disconnecting the battery it didn't work. Thank you Baha

 

I towed it back to my mechanic. He said it was my clutch that was burned. He recommended changing Clutch Cylinder, Solenoid, flywheel (possibly grinding it), fly bearing, crankshaft seal, along with the clutch. Is it always recommended to change the cylinder and solenoid? Or should I skip that and save some money. The cylinder alone is like $1300-1400. Thank you for all your help.

Volvo dealer gave the following codes: Split engagement system (p107177), counter shaft brake/input shaft brake (P107694), clutch plate load actuator slipping(P106074), and brake switch code(P105594).