Have you had the brake fluid changed?
I had exactly the same problem with a 2013 Focus 1.6TDCi. It was a company car that the lease company instructed the garage to change the brake fluid at its service earlier this year. After I got the car back I noticed on long journeys that the clutch pedal wasnt returning properly. It got to the point where the pedal wouldn't return at all.
The garage's excuse was that they drained the brake fluid reservoir too low and air must have got in to the system. Apparently the brake and clutch cylinders share the same hydraulic system? Anyway they either changed the fluid again or bled the system, I'm not sure, but it cured the problem - at least that's what they told me they did.
They definitely didn't change the clutch or flywheel as these failed a few months later (the car was on well over 100k miles when the clutch went and I don't think it was related to the problem with the pedal).
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