The MTX75 gearbox in my 2002 ST220 has also been quite notchy and occasionally cruchy, particularly between 1st, 2nd and 3rd when both cold and warm, 4th and 5th always fine, bought the car on 91k but just changed the gearbox oil a couple of weeks ago at 106k and discovered there wasn't quite enough oil in it (only 0.3l less than there should be but possibly enough to make a difference), so put enough of the new spec gearbox oil in (1.9l of genuine Ford stuff), and although still a little notchy when cold, it disappears now once warm

But have replaced numerous other things on it in the last 18 months which has probably added up to a small fortune, but my previous car before that, a Mk1 2.3 Galaxy, bought with 101000 miles, I sold with 168000 miles on it and not a single thing wrong with it, and only needed an ABS sensor in 4 years of owning it (apart from general wear and tear stuff).