interesting problem !
I can't tell from your post ,is this truck a 4x4 ?
the ratcheting could be a bad 4 xhub if its 4whl
If not it could be within the trans.

The strange thing is no codes related to the tranny posted !
Maybe someone put a kit something in the tranny.

As I stated before a cause for hard shifts is sticking shift solenoids or dirty fluid
There have been case where the main valve body loosened up.
Have you ever changed the fluid and filter?
If not might be a good time.when changing the filter tighten the main valvebody

Rich