Will not quite go into park

may well be a cable. disconnect it at the shifter end and see if you can pull it through the full range. Also,check that the shifter is not binding up as well.

I can push the manual shift button and it will shift through all the gears. When I go to put it in park you can watch the selector go through "N" through "R" and then disappear. Shifter gets stuck.

Go under the truck and look at the bushing in the end of the shift cable. They like to wear and even fall out. You put the shift lever into park and it does not pull the lever on the transmission into park because there is not enough travel in the lever to move it without the bushing. There is a place called bushingfix that sells just the replacement bushing so you do not need to buy the complete cable. The lower one is the common problem but there is also one on the upper end. It wears as well but usually is not the problem item.

Done that, bushings look to be in good shape. Just does not want to push the transmission lever that last half inch to go into park.

Pull the console and see if something is jamming the lever. The cable could stretch but it would not be a it works/now it does not issue, it would progressively get worse.