You ain't alone...
I suggest you search this site using "ES" as the key search words. Over the years there have been numerous questions and recommended detailed suggested fixes and preventative measures to be taken for what apparently is not at least an uncommon problem.
* Check, change and use the right/good oil
* Check, replace the Bank Angle Sensor
* Change the grease on the shift changer gears(?)
* Replace shift motor
Again, if you search the site, you'll find numerous threads on the ES system problem, along with good/detailed responses.