My 04 (53) ST170 is on 38,000 miles, the clutch pedal sticks down sometimes then pops up with an unsatisfying thud, it too is a shit to get into reverse and went through a stage a few weeks ago of jumping out of gear, then miraculosy cured itself, whining of the release bearing is apparent too, but i heard clutches on any car, let alone an ST170 are only good for 40 - 45,000 miles.