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I have had difficulty getting mine (03 PS EX) to go into reverse on occasion from park position. The detents on the fords do not give very good feedback to the driver and I think that is my problem at least. not sure about yours, maybe minor linkage adjustment. doesnt sound like a serious problem though.
eeewww, i would go to the dealer and try to pry some info from them about what kind of adjustment can be made on the shift cable or something like that. depending on your dealer, sometimes they will give something useful to you. MAYBE YOU WILL GET LUCKY.... good luck