It's NOT disengaging properly if difficult to get into gears and reverse.
However, Polo's did have a problem with pedal boxes cracking/bending. This will give the same effect as a partially engaged clutch.
Check out for wear in the pedal box .. it only has a few spot welds. Alternatively, contact a dealer with car details, and see if it subject of a recall .. VW did one on Polos for that reason.