About 1/3 of the time, after parking somewhere, I go to leave and the truck will not shift out of Park. I have to put my foot outside the truck and push backwards to rock the truck back; then it will shift. Any idea’s??

 

There is a return spring on the parking pawl and I would suspect the return spring could be either broken or weak. If the trans pan was removed you could see if that is the case and it could be replaced without disassembling the entire trans.