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C4 Picasso 1.6 e-HDi Airdream VTR+ ETG6 5door gearbox fault

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The central screen is showing "gearbox fault" and I cannot get out of neutral (no park position). That seems to be the only fault with the car despite the RAC report indicating BSI faults but I sent that module to a tester/repairer and nothing wrong found. Only option was to trailer the car to a main dealer who offered diagnosis for £60.00.

Later that day I received a call from their service receptionist to tell me that they need to drop the gearbox to check "the clutch position sensor" at a cost of £600.00 (just for diagnosis - not repair). I asked for more information but she told me that the mechanics never speak to customers and I cannot find more information.
Please, can anyone enlighten me as to why such a major component might not show up on the normal diagnosis via the OBD port?

It seems a lot of money and effort to check if there is a fault - especially if the sensor is not found to be faulty. Where would I go from there?

Please reply as if you are talking to a mechanical idiot - you will be correct.

Thanks and regards
Phil Jones

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