Your brake light switch is causing your problem. If you need to drive the truck, run a jumper wire from the rear window defroster to the 3rd brake light connector. Turn on your rear defroster, step on the brakes, start your engine shift into drive and turn off the defroster. The power from the defroster will activate the shift solenoid allowing you to shift.
Get a new brake light, only takes a couple minutes to replace it.
Mike
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