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Q: How much $$ to fix shaft?? Gets stuck in park a lot. on 2003 Ford Escape

I cant get it out of park unless i rock the truck back and forth while pulling the steering wheel. Also, up on ramps- we put it in gear and when we gave it gas, it made a rattling nose coming from the shaft I guess. It sometimes makes a noise in that area (where the transmission meets the shaft) like a gear slipped and grinded but the truck doesnt stop moving out of gear.
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