Ford Ranger XLT 2001 she just rolled over to 72,000 miles

My truck doesn't seem to realize when she is in Park. It will roll and chug if on a hill, and I have to change her to Neutral to crank the engine. Every now and again though she will start in Park?

About 1 1/2 years ago I changed a sensor under the trans. due to the engine reving but the trans. not kicking in. Is it possible the same sensor is gone?

Thanks, Cheryl