You have two errors in mind. One about the lack of change of the "halves", and one about the incorrect position of the clutch actuator. I think that mechanical damage to the gearbox cannot result in an error on the clutch, and damage to the clutch may result in a "half" error.
Generally, when starting the engine, the gearbox calibrates the clutch and establishes the so-called "biting point" - the position in which the clutch is shorted. For all subsequent driving time, it remembers this position and shifts gears according to it, the next measurement of this position is made only when we turn off and restart the engine.
In my opinion, the error in the position of the clutch pops up when the "biting point" changes while driving due to the heating of the clutch. The gearbox sets the clutch to a given position to be changed, but this value has shifted and in fact the clutch is still slightly clamped, which is confirmed by grinding when shifting gears. Such problems occur when the clutch bearing is damaged, but more often there is no lubrication on the gearbox / clutch shaft. We have had many such cases that the shaft was dry as pepper and the bearing stuck in different positions on the roller, then the astronic stupid.
There were also cases of lubrication with the wrong type of grease, the grease must be high-temperature and very thick. Usually greases, e.g. in a central grease pump / for sacks, dry quickly and do not fulfill their role.
If you have prepared the bearing itself, the more it will get stuck on the shaft.
I do not know why TCU only complains about "halves". If we connect the fault with the coupling, he should complain about more translations.
So the second option is to check exactly which gears are scratching, if you find the correctness of individual gears, you may have to look for the fault in the gearbox itself (which may not cause an error in the position of the clutch, but who knows it). The changes in Astronic gears are not comparable to the changes in the manual. Astronic 12 speed is 3 gears, half and range, 16 speed is 4 gears, half and range.
I do not have a detailed list in front of me, but for example, 1st gear is a change to gear, 2nd gear is the same gear but with a different "half", 3rd is the next ratio and "half returns back, 4th gear is the same ratio as the 3rd gear, but with the next a half-letter. Jakos takos.
"Half" are used most often, therefore the gearbox may complain about it and not about other functions.
I do not rule out that you have damage to the "half" moss, but in my opinion, the greater probability of a failure is a failure of the clutch engagement.
Personally, I would measure the "biting point" when the chest is cold, and measure the same with the chest hot. That is, connect ManCat, read the positions when cold, go to the stop until a fault occurs, then turn off the engine, start again and read the positions of the "biting point" while hot. If it changes, boldly disassemble the clutch. water in oil or mechanical fault).
In ManCat there is also an option to manually set the "biting point" without turning off the engine, a good diagnostician should know how to read it, but it is difficult to find a good one

.
We will not repair the box on the forum for sure, but I hope that I will introduce you to the operation of this system a bit, and it will help in further diagnosis.
(apropos ... we have clutch discs and sets that practically fit the MAN, but while driving there are problems with shifting gears, I don't know the details, but it's worth itcheck the exact specifications of the replacements, I will not give you my hand to cut it, but it was probably "Sasch". I try to find out in the company.
I asked, it was about a customer who brought his Sasch clamp, it generally fit as well, but the pressure plate was too thick and MAN's clutch did not want to cooperate ... but it probably does not apply to your fault)