Given your description of going from floor to floor and if your lucky it could be just a loose bolt on the forward / reverse lever itself and a worn out key. If your unlucky it could be a loose bolt on the lever inside the transmission or less likely a problem within the detent block.
"i reject your reality and substitute my own" - adam savage. i suspect my final words maybe "well shit, that didnt work"
instead of perfection some times we just have to accept practicality