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I have a bit of an issues and am not sure what the problem is. Awhile back I purchased a 96' F350, low miles, beautiful shape. Anyway the guy had moved the shifter to the floor, shortly after I purchased the truck I put it back up on the column. Anyway not to long ago I went to start the truck and...nothing. I thought maybe it wasnt all the way in Park to I gave the shifter a jerk up and she fired up no problem. This problem is slowly progressing, seems like I have to play with the shifter whenever I want to get the truck started. Is this just a coincedence? Could it be my starter failing? On the failed attepts to start it just makes like a single "click" noise.
When I first purchased my 02 I had trouble removing the key - turned out it was similar to what you're finding. My solution was to ensure that when I shifted into Park that it was all the way up rather than close and letting go of the lever. The dial pointed to park but apparently the tranny wasn't quite there yet.
Either it self repaired (not likely) or I've adapted as I never have trouble with it anymore. Here's to hoping that yours will be a similar easy fix. If not you may need to look at the steer column linkages/interlock switches.