Shifter stuck between park and reverse

Your description sounds like you need to adjust the shift cable. To do so you make sure the shift lever inside is in park. Block the wheels and go underneath the truck. On the transmission at the cable in your picture you release the cable lock, it is the large white plastic piece. Now with it loose, double check that the interior lever is fully in park. Now under the truck make sure the shifter on the transmission is all the way back in park. Then just snap the plastic retainer back into place. The book tells you to remove the cable first, but I like to tempt fate as little as possible when it comes to the plastic bushing in the end of that cable. Once adjusted test the lever and be sure it goes fully into park and only starts in park and neutral.

Thank you. will let you know how it goes.

Okay, that worked. thanks again.
So before it would not shift, stays in first or second gear with a code of P0760 shift solenoid C. I replaced the solenoid but it still does not shift in other gears and same code comes up. Any ideas?

Check the transmission connector and it's harness. They corrode inside the plastic and you get a bad connection so the solenoid doesn't work. Common problem on them. Normally you depin the offending pin and install a replacement, if you have the special tools to do it.