when im driving it feels like its stuck on 4 low speedometer reading too high when im only going 20 mph and when i come to park the truck jerks forward hard.

Hello, it indeed sounds like you might be stuck in four wheel drive low. Or, you could have a transmission concern. Have you checked for "chassis" codes? These start with "C" and a normal engine diagnostic trouble code reader will not read them. C codes will set for transfer case issues and other chassis related concerns. Regardless, hands on troubleshooting is needed. https://repairpal.com/repair-shops/ford-repair-and-service-in-sacramento-california