It sounds like the linkage at the transmission has come loose. Have someone get inside and move the shift lever from gear to gear so you can see where the linkage is on your transmission. You'll have to climb under ypou truck to see this, on the drivers side. check to see that all the bolts are tight. Your switch that allows you truck to start in Park or Neutral is located there.
SOURCE: shifting from reverse to Drive
If your van has alot of miles, then just ignore it. Get a sevice done on it and let it warm up a bit and see if that helps the problem. When the miles get put on, especially with little maintaince, they have a hard time engaging "cold turkey". Another factor is that going from Rev to Drive(1st) you are going from energizing one accumulator to energizing two, and you're switching from the Rev clutch to the Underdrive clutch which tends to bleed off pressure the most.
SOURCE: 98 Jeep Cherokee Shifter problems
There was a recall released for this problem a couple of years ago. Check with your dealer
SOURCE: chrysler concorde car wont shift from reverse to park
it sounds like your gearshift cable is broken..if you can jack up vehicle and support it safely,get someone to move shifter and look on driver's side of transmission and see if linkage is moving on trans..linkage is up near top of trans..i have seen this problem before
SOURCE: 2006 Altima doesn't shift into reverse
The problem that I could see is the transmission/shift solenoid. The solenoid thing is located inside the transmission. The repair
should run $200-$250 or there abouts. If you don't fix it quickly
though, you will wreck the transmission and you don't want to know how
much that costs!
You may also contact the manufacturer for second opinion.
Hope this helps and have a great evening!
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