Escape Clutch

My friend has an 01 or 02 Ford Escape manual trans. 4wd. She has been having intermittent clutch failure...sometimes she can't get it to engage into gear with the clutch pedal depressed. She is also having a problem with the little sensor (plunger set) that the clutch pedal arm contacts, inside the car (under the) dash. Has anyone had any similar experience? If so, what was the solution.