I have been working on my neighbors 2011 Rancher with PS and ES and 4×4. FPA Model. Problem I have had was bad battery in May that was causing electrical low voltage problems. New Battery. FIXED. Then, in June, a code 23 on the DTC and replace of the Shift Angle Sensor. FIXED. Read about the stiff grease that Honda put in the Shift control Motor Gearbox. Cleaned out a small amount of grease and put in some lithium grease and put back together. All good till the other day, 5 months later. Found code 23 and 15. Bought 2 shift angle sensors and a shift solenoid valve. BUT I have charged the battery, even though it was plenty high, and cleared all codes. Now it runs fine in auto and ESP modes. When I shift into Reverse, then back to Neutral all is good. BUT then it won’t shift into 1 or D. I tried using the 8mm socket on the shifting shaft. NO luck. Then I pushed the 4 wheeler forward in neutral and thumb shifted to 1 or D and it went in. Something binds it from Reverse to 1 or D. Any ideas? I am hoping it is nothing inside, but I am running out of ideas. I will play some more with it when I feed the horses tomorrow. Thanks…