Try shift gear adjustment. Have you tried disengaging it from the gear selector lever and trying the gear selector cable manually? Once it's in reverse, does it stay in reverse?
Could be an opportunity to replace the impeller so you can drop the leg and see everything is sitting properly. Should be in neutral before you drop it. Double check gear oil when you drain it, there's no emulsification or metal filings.
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Is that with or without VAT?
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