Not Ranked
My bet is out of adjustment shifter, loose bolt on the 5/R linkage or shifter that has a problem.
If you go under the car, with it in neutral and not running, you can unbolt the shift lever from the 5/R position. It is the one at the rear. You should be able to easily shift into 5/R using an adjustable wrench on the part sticking out of the trans. If that works you know it is the shifter or adjustment. If it won't it is in the trans.
Obviously, you may need to rotate the tires just a bit to line up the gear teeth. Once in line it should shift with the wrench.
Let me know if my description is unclear.
John
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