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I would have to say it's maybe a misalignment of the sensor or a bad sensor itself that tells it what gear it's in. Maybe when you're in reverse the truck thinks it's in neutral or something along that line.
Probably a bad sensor or corroded contacts at the sensor.
Mine does the same. I have heard a dealer can diagnose and isolate which one is bad for you. You can then have them replace or do it yourself. They are a bit of a pain to access to remove.
This happened to me... It was a bad sensor in the back. You can go the expensive route (which I did, I will know better next time) and take it to a dealer, or you can buy one on line and test them yourself...
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