Oh yeah, now I remember … lol …
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I’ve had this issue with my 98 dodge 1500. Best way to at least switch it from one gear to another is turn the truck off while it’s in nuetral, its best to have someone hold the breaks if not use your E brake. Manually get under the truck and change it to the gear your trying to switch to. Check the front axle drive line to make sure it’s locked. Just use the shifter to figure where it’s at. Once set, turn the truck back on while still in nuetral then reverse and it should go in. Usually, if this doesnt work same process but leave the truck on and in nuetral. Its a pain but its saved me from a couple of could’ve been unexpected overnight stays.