Most probably the F125 switch. Mine started acting up when selecting reverse and was intermittent just like yours. Someone on here has just posted about an F125 failure after (25? 50?k) miles. Mine at least hit 100k.
The F125 switch would be the item identified as the "Sensor Gear Position Indicator"
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2002 D2 S8 – Ming Blue, Valcona leather, Vavona wood insert, solar sunroof (to be fitted), Heated rear seats, extended leather pack, 18” Avus, ski hatch, Bose, auto dim rear view mirror, rear blind.
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