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If you are luckey it may just be a broken shifter or shift fork.. either requires removing the trans.. This is a T5 trans parts are available for it but sometimes its cheaper to find a used trans than buy the parts. First thing.. remove the shifter and see if you can see anything wrong. you failed to tell us how this happened ?
The ball on the Shifter that mounts on the TOP of the transmission is worn and needs to be replaced in order to get the Complete throw (Movement) of the shifter. It is an easy repair, 8 screws to take the cover off, 4 bolts on the cover and then pull up the shifter and replace the ball
the shift sinkcranizers are dry .may have to pull the shifter and use some white lithum grease on it work the shifter from gear to gear working in the grease drive the truck for about 25-30 miles and change trans fluid
I had that problem with my 83 ranger, had to remove the shifter & lube the shifting mechanism and the parts it fits into, and reassemble.
Mine appeared to be rusted, possibly from just sitting too much in my back yard, but once I lubed the shifter part going down into the trans and worked the parts to get it loose, it took care of it.
I did this through the floor without removing anything but the trim, boot & the shifter. Once you get to it, lube everything you can get to & don't be aftaid to use an old toothbrush to spread grease down farther. You should be able to make the gears work before reassembly to make sure you've actually fixed the problem. A can of silicone lube may help reach any areas you can't, just to get things lightly lubricated you can spray into areas you can't push grease.
You can gently pry on anything as long as you don't bend or break it, and be sure not to drop anything where it can get hung in the transmission gears while you've got the trans open.
remove the knob or slide the rubber boot up the shifter. there are 4 screws under the floor mat that hold the boot in place. after the boot you should see four more bolts holding the shifter in place, they are usually 10mm socket. remove them and remove shifter from the top of trans.
many of these trucks have a mazda trans in them, to remove these shifters you will need to remove the 4 phillips head screws from the corners of the trim around the shifter boot and pull it up out of your way. it's not necessary to remove the boot from the shifter, just lift it up for access to the top of the trans. at the base of the shifter on the top of the trans you will see a plate attached with torx head screws. remove all but 2 of them, now make sure the trans is in neutral and remove the last 2 screws and pull the shifter straight up. the shifter is now out leaving a big hole open on the top of the trans for dirt to fal into so put a wrag in it or screw a piece of cardboard to it. installation is the reverse. good luck