2006 Ford focus gear shift not locking

I just got back from the dmv, a half hour there and a
half hour back and everything was fine, then I parked in
my driveway. About an hour later I was going to back
up into my garage when the car kinda locked up and
wouldn't reverse. Then the key was stuck in the
ignition, so I turned the car on and off a few times
while moving the steering wheel and wiggling the key
but it wouldn't release. I put the car in neutral and
pushed it into the garage and when I turned it off the
key came out no problem. Now the gear shift will lock
in park, but when I put it in reverse it will not lock in, it
slides up and down from drive to reverse. And it will
also slide between 1st and 2nd. I took apart the center
console because I read someone had this problem and
cleaned a sensor or something but I don't know
anything about cars except from youtube. I saw that
there is a gear (bar? Pole?) That looks like it was
supposed to be connected to something but is just
sitting there. If anyone can tell me what the problem
might be that would be amazing. Thank you!