07 f430 spider stuck in reverse

Has anyone experienced this. Intermittently I will put car in reverse and it will not respond to 1st or neutral. after 30 seconds to 2 min of attempting it will suddenly be fine. It only appears to happen after shifting into reverse. Car runs and shifts through gears flawlessly at all times. One time I was able to duplicate the problem while having my Autel Max sys scanner connected I noticed in live data the gear requested said reverse even though I would pull the right paddle for first gear or both for neutral. please help.
thanks Sal