2002 Ford F-150 2002 Clutch Tran problem. Local shops cant

Transmission problem
2002 Ford F150 6 cyl Four Wheel Drive Manual 100k miles

Helllo

I drive a 2002 Ford F150 4X4 Truck. I have reached a point that I have to be somewhat forceful to get the truck in gear. Does not grind or make noise. The truck will not go into gear while truck is stopped, in neutral with the clutch depressed, I have to turn the truck off put it in 1st and then restart to move again. To get around this as I approach a light and slow down I press in the clutch and it will slip into first as I slow down. And have to keep the clutch pressed and in 1st for the duration of the light. My first work around was to not to depress the clutch and just press up against 2nd firmly (not Engaged) and hold it there for at least 30 seconds. Then that allowed me then to hit the clutch and put it in 1st like normal. I also have a hard time getting it to drop into 2nd while in a turn.