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If it has a rod linkage to select the gears, check the joint where it connects to the gearbox. The pin that holds it together may be worn and causing it to have a lot of play in it. This can make it difficult to select gears.
However if it is a cable linkage then it could be a trip to your local Renault dealer to get adjusted as they have all the measurement tools to do it.
Hope this helps
Currently in j_coupland's garage:
2010 Renault Scenic 1.5dci 106