Check the linkage. Set the parking brake, and examine the transmission where the linkage connects to the actuator on the transmission, and have somebody operate the shift lever. Take note if the transmission is going into reverse or not and if the actuator on the transmission is always going to the same spot.
If this test does not reveal a problem, disconnect the linkage from the actuator, and move the actuator by hand to the reverse position. you should feel it fall into the reverse position. If it does fall into the reverse position, and the transmission fails to go into reverse, then take it to a transmission shop
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