If brake lights don't work it won't shift. You can manually push the detent on the shifter lock out to put in drive but you won't have brake lights. Typical fault with D2. Most likely brake switch.
Look for a SIDS document on brake shift interlock. The system has 2 jobs. Keep you from putting truck in gear without your foot on the brake pedal. And to make sure you don't remove the key from the ignition switch unless the truck is in park.
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