Just drove the truck again and it works great now. I've read how you're suppose to shift the column shifter, "H" pattern and all. How I described it to my son is that you shift into gear, then shift out of gear, then shift into gear, then shift out of gear. Basically starting over each shift. That slows you down and it works good.
Kinda glad it got stuck in gear, made me fix it instead of learning how to adapt to it.