Sounds like an obstrution in the linkage look at the lever on the trans also check the cable to see if it is freyed
My 93 crown Vic was doing that and I couldn't figure it out until a screw fell out from under the dash onto my foot one day when I couldn't get it in reverse, so I looked and it was just the screw that connects the shifter to the pivot arm. I guess it had worked itself loose and was sagging low enough that the arm couldn't properly be placed where the shifter said it was
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Thanks for your information. It is very much appreciated.
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