Hi,
Based on your description, it sounds like the shift linkage is loose or something is worn and not allowing the transmission to shift when there is pressure on it.
If I had to guess, I would think the shift lever nut on the transmission is loose. However, it could be any of the things related to it.
I attached a pic below and highlighted everything to check. When checking, first check for excessive play or looseness. If you don't see anything, with the engine off and the parking brake on, have a helper try shifting to see if something isn't fully moving or if one of the brackets is loose.
Let me know what you find.
Take care,
Joe
See pic below.
Image (Click to make bigger)
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Monday, October 17th, 2022 AT 6:55 PM