Citroen DS5 MCP - only reverse and neutral works

[MaciejO2]

A few weeks ago, in the morning I left the garage and set off towards an adventure of the day. The car changed from reverse to first gear, before joining traffic to N then back to 1 and was no longer able to engage 2nd gear. Only N and after a struggle reverse (gearbox grinded). Now these are the only two states in which the gearbox works (reverse and neutral).

When trying to engage first gear the car jerks and after an unsuccessful attempt the gearbox goes into failure mode.

Maybe this will shed some light on the failure: some time earlier it happened in a parking lot, after engaging reverse after first gear while the car was still slowly rolling the gearbox grinded. Then it engaged 1st and 2nd gear, after stopping it was not able to engage the gears. Several attempts to set back and forward reverse and 1st gear, the gearbox started working for a few weeks.
In April the clutch, pressure plate, bearing, release bearing etc. were replaced.

Citroen DS5 Hybrid4 with MCP
Error codes in attachment

Please help
With best regards
Maciej