If you can get the vehicle in a position where there is no tension on the gears from the drive shaft you can manually move the shift selectors to the correct position. Do this with everything hooked up and on the column under the hood. Mine did this few times after I first got it. I would pop the hood, move the shifter rods to the neutral position and everything would be alright, for a while. As I said, it did it a few times when I first got it but has not done it again in the last 2 years? I am not sure what I fixed or changed that corrected the issue.
There is some additional detail in this thread.
Stuck gears
