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You need a healthy battery pushing 12Vs to make the ES work. Not sure about yours but my 2000 450es Foreman use to act up and not shift sometimes and removing a fuse from under the seat and reinstalling it fix the problem for some reason.
I heard of a angle sensor causing this also but Honda improved on it and a 2005 should have the improved version.
2001 Yellow 500 H.O
No Plastic roll cage
5.25 gas tank.
2007 350 Grizzly
Your symptoms appear to be the the classic angel sensor going bad. In my opinion, Honda had a problem with a supplier on their 04 & 05 ES angle sensors. I changed mine in 06 after getting advice on this column about the same issues. I also know of two friends who had to replace their angle sensors on that age of machine. All have had no problems after the change.