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It sounds as though the clutch pressure plate has become weak.
When you press the clutch pedal the release/throwout bearing presses against the centre of the clutch pressure plate. This causes the metal 'fingers' -the springs- on the pressure plate to flex and release pressure on the driven plate - momentarily disconnecting the drive from engine to gearbox.
A weak pressure plate isn't fully releasing the driven plate. If you're going to do any replacing of parts - a clutch should be replaced in 3 units: Pressure plate, driven plate and release/throwout bearing.
Had a 92 Ford 3/4 ton 4x4. And the same problem. I changed the clutch master cylinder, slave cylinder (inside of bellhousing), Disc. pressure plate, & throwout bearing. Cost some money but it was worth it. Never had another problem.
Do you mean you can't get the clutch to DISengage? You need the clutch to disengage - 'unlock' the transmission input shaft from the flywheel - in order to change gears.
If you put the transmission in 1st gear and start the engine and the truck starts moving with the pedal depressed, the clutch IS engaged. I think you mean that you can't get it to disengage so you can stop without killing the engine, and can change gears without a lot of grinding.
If this is the case, check to see that the clutch cable or linkage (if you have mechanical linkage) is properly adjusted, or that you hydraulic lines and slave cylinder are bled if you have a hydraulically controlled clutch.
On a manual transmission you will find something called a throwout bearing and is responsible for engaging and releasing pressure from the pressure plate. If that bearing is becoming worn, it will in fact cause a whiring noise. Have a trusted transmission repair shop inspect it. They may recomend since the transmission will have to be removed to accommodate this repair that the clutch and pressure plate be replaced as the same time to avoid another costly repair in the future. Let me knw what they think and I will be happy to help further.