Either the gearbox lube level is low or the clutch is dragging. It would be easier to test if it happened all the time but here's the deal. If you can catch it at a time it is happening often and you can get out of traffic for the test, put the gearbox in reverse. Keep the clutch down while shifting into neutral for a couple seconds, then gently try to engage reverse. If it slips right back in without any grinding the clutch is not dragging - at least right then.
You may want to get the gear lube changed (not much more expensive than topping up) on general principles anyway - 10 years is a good run for any lubricant.
It could be worse. My 2005 F350SD work truck has the balkiest transmission I have had the misfortune to use. Even when new it has taken a couple attempts to get into first gear, and others in the fleet that we bought at the same time are the same way but none of the others are this bad. The clutch doesn't drag and the Ford dealer has told us that's just the way they are. The old F250 I had before that just got balkier and balkier and I kept taking it to the company mechanic, who said it was normal... until the gears ran completely dry and scored the faces badly. The lesson is not to ignore lube level when symptoms appear.
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