2011 Fiesta SE Clutch not fully Engaging

So i have a 2011 SE Fiesta 5spd & Sometimes it feels like the Clutch isnt fully engaging, even if i push the pedal all the way. Most of the time i have to work the shifter side to side just to force it into 3rd or 4th. And sometimes i cant get it out if reverse unless i turn the car off, shift out of Reverse then start the car back up

The Transmission shop doesn't think its the Master Cylinder but im not too sure.
Any advice would be MASSIVELY APPRECIATED