Happened to me several times, but hasn't in a while. I had it happen up til about 8,000 miles, but hasn't since and I'm nearing 20k so maybe it will work out for ya in time since you only have something short of 5k on your truck as of now.

 

this happens to me sometimes in drive...just knock the gear back into nuetral and back into drive or reverse.

i've also had a clicking noise when i go in reverse....is it just out of the gear??