Not sure whats causing it to stick in gear, but there is a little wrench under your seat that is meant to be put on a shift shaft on the front side of the motor to get you in/out of gear in an emergency. Not sure if you were aware of that or not. Like if it gets stuck in reverse, you dont have to drive it home in reverse lol. Get the wrench out from under the seat, get to the engine from the drivers side and there will be what looks like an 8mm bolt head shaft sticking out the front of the engine. Put the wrench on it and push it one way or the other. You may have to rock the P520 forward or backwards maybe, until you hear it click into neutral, or whatever gear you're wanting. From what Ive heard once you manually click it into whatever gear you're looking for and go to driving it again it will start acting right. I had a P5 for a couple years and never had to use my wrench, but some people do now and then. The P5 is pretty bulletproof. Dont be put off be this. Its just a hiccup. Good luck!