The problem is caused by a small electric interlock switch on the steering column. It is the Park/service brake interlock that requires you to step on the brake in order to shift out of Park position. It gets 12v from the brakelight switch to retract a pin that blocks moving the shifter out of park.
It was provided to you by your all-caring federal government to ensure that if you are stupid, your government won't allow you to pull the shifter into drive or reverse without looking in front of or behind your truck with the engine racing at high rpm.
The switch can simply be physically removed from its mount on the column and if removed it won't interfere with moving the shifter. Just leave the wires connected and zip tie it out of the way.
The park/brake interlock switch failed on my '06 when it had 36,xxx miles on the odometer, just out of warranty. A Dodge mechanic friend unbolted it from its attachment point and zip tied it to the column with the wires still connected. I liked having it disabled so much I had him do the same thing on my '08 when brand new.