1997 4-Dr 4x4 automatic

Ever sin​​​​​​ce my last trip off roading, my truck has had difficulty shifting all the way into park, and as so, won't start unless I manually override the shift lock. I have to put it into neutral to get it to start. Sometimes, if I'm lucky, it will shift all the way into park and I can start it no problem when I get back in. It also works if I crawl under and manually unstick the linkage. Any suggestions?

 

I figured out how to do the linkage adjustment, but either I cannot get it just right, or there is no adjustment that fixes the problem.