Hi Neil
Some of this has been covered by others, but this is what I suggest.
Sitting in the car engine off, does the clutch pedal feel normal?
Engine off, does the gear selection feel normal, as in everything still connected?
Now start the engine, depress clutch and select gears, particularly reverse, after not having first selected any other gear. If this is ok then clutch is clearing ok.
Now try selecting gears, engine running, but without depressing the clutch. If it is exactly the same as with the clutch depressed, i.e. no undue resistance on the forward gears, and no crunching on reverse, then clutch lining has probably broken up, or similar total clutch failure.
If there is some resistance when selecting the forward gears, but if you lean on synchromesh you can get it to select, and in reverse it crunches, then it suggests that there is at least some drive through the clutch. If this is the case, I'd look at the driveshafts, check for telltale twisted or split gaiters. If you can get an assistant to engage a gear and try and pull away, check the driveshafts, you may see one spinning. If the is no obvious driveshaft fault, then it probably best to remove them and check for stripped splines.
I've definitely had a Jag x type which is basically a Mondeo, loose drive because the spline on the inner end of a driveshaft stripped.
This may not be relevant, but if the RH driveshaft has a bolted flange on the inner end, rather than pushing straight into the gearbox, it may be the same as the ford galaxy gearbox. If it is the bit that goes into the gearbox is a short stub shaft, and it is quite common for the spline on that to strip. To remove it after the driveshaft is removed, there is a socket head bolt recessed in the middle of it that needs removing, and then it pulls out.
hope this helps
good luck
Trevor