Our 2.5T 2006 S60 had a similar issue that progressively became worse (while it was under warranty). First, the dealer stated it was a simple lubrication of the shifter (it took them 1/2 hour). This worked for 1-2 days. Next, I took it back and the dealer stated that it is likely the teflon part and possibly a simple mechanical/electronic item that had to be replaced (it took them 1-2 hours). That worked for 2-3 more days. Finally, I took it in and told them that I would not want our car back until they could figure out what it was and FIX it, while I asked for a rental. Sure enough they gave me a rental (under warranty) and ... three days later it was apparently correctly diagnosed and truly fixed. It turned out to be the related electronic control unit (a rather expensive repair). Fortunately, it cost us nothing. I suggest you start in a simple way (as suggested by Claus and the other fellow) and hope that it is not the so-called electronic control unit.
1995 850 turbo sedan, a really great car
2006 S60 2.5T, a really nice car my other half likes very much
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