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This is a more serious problem as the truck is totally immobilized. You will have to do something if you want to get to where you are going. Fortunately, the solution is very easy.
Open the center console glove box and using the star screw driver, remove the 4 screws that hold the center console "box" in place. The box is the tub right under the flip-up door.
Remove the tub then stick your hand into the hole toward the shifter. While jiggling the shifter, feel where the bottom of the shifter goes. Somewhere near the bottom, you will feel a round mushroom-shaped thing, with the round part facing the PASSENGER SIDE. If you press on this, the shifter can now be shifted out of park using the regular method. You need to hold the button down when you want to shift out of park. The lock is only for park so all other gears are ok from this point on.
Please hit accept if I have helped you out. The problem is the shift interlock solenoid is bad and will need to be replaced.