The problem sounds like it is the shifter interlock solenoid located on the steering column is not releasing the shifter lever. The shifter interlock is supposed to release the shifter lever when the ignition is in the run position and the brake pedal is pressed down, and I have found that about 90% of the time the problem is either a bad switch on the brake pedal lever, or it will be the wires that connect to the switch on the brake pedal lever, and I have found many times that the wire is actually broken right up inside of the wire connector and hanging on by the insulation making it appear to still be connected. Most vehicles use only one multi-function switch on the brake pedal lever to control functions like the brake lights and the cruise control, but Ford products are good at using two switches on the brake pedal lever. Be sure to check all of the wires to the switch(s) on the brake pedal lever very well for broken wires especially at the connectors to the switches. If you can use a power probe or a volt meter to check that power is flowing through the switch(s) properly, and you do find that the switches have power to them and through them when the brake pedal is pushed down, then the shifter interlock solenoid will either have a broken wire at it, or the shifter interlock solenoid is malfunctioning and will need to be replaced.
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