transmission

Hello Everyone
New guy here with a transmission problem I think.
I work at a 85 acre pipe threading facility in Baytown TX with 650 racks of pipe that we have to inventory daily so I do alot of starting and stopping each day. Yesterday while counting pipe my truck would not get out of drive mode even in neutral or reverse. Any suggestions?

 

Do you have a column shift or tunnel shifter? Take a close look at the shift linkage.

 

It is tunnel shifter. The truck is now in drive at all times even in park. When I start the truck the RPM's are low, because it is in gear. When I press the brake pedal RPM's increase to normal as in neutral and when I let off of brake you can feel the truck go into drive but will not roll because in park positiuon. If I have truck in neutral or reverse positions and let off brake the truck start rolling forward and goes through the gears. I have tried to reset the transmission module (by turning engine on and off a couple times) and even taken off the battery cable for 10 minutes but same results.