I have a 1996 ford taurus and I was leaveing home and soon as
I went to put it in drive it made it to reverse and stuck then
It would't go into drive I use a little force to try to put it
Into drive and no go afther that I went to put it back in to park
And it wouldn't go into park. So I had my wife hold the brake down
While I pop the hood and put it in park from under the hood. It
Worked but I still had to force the shifter in to park from inside
Of my car to get the keys out the car. The car still starts but
Know it won't go into any gears
It just slides up and down unless
I put it into gear under the hood and then it only goes to reverse
And park. I kind of feel like I may have two problems in one
Here. The linkage cable and the transmission range sensor. I would
Welcome any help thank you.

Here's how to remove and install the TRS:

https://www.askmehelpdesk.com/cars-trucks/faq-how-troubleshoot-repair-maintain-hondas-selected-other-vehicles-46563-10.html#post1955415

For the linkage cable, you are on your own. I suggest you get a manual covering how to adjust it, if necessary.

As the owner of a 2000 Taurus, which has been a great car, I recommend that you drop and clean the pan and magnet, change the filter, and refill with Mobil 1 Synthetic Multi-Vehicle ATF every 30,000 miles. ATXs are the weak link on all FWD vehicles.