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@Donat
If you follow the disassembly instructions on this page https://www.norvil.net/pedal/service/shimanosti/duraace9sti/strip.php
I think a problem like that would become obvious in the attached picture. Possibly damage to one of the teeth that hold the shifter in gear, or just crud buildup.
also I wouldn't try any of this without spraying a decent amount of wd40 down the cable hole and give it a couple days to break down crud, that could potentially fix it without dissassembly.
happy to lend my ground down spanner if it helps.
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