03 Edge XL 3.0 v6 here. So yeah. I made the mistake while in conversation and didn't realize I hadn't fully shifted my automatic over to D from park. I pulled away gently and drove 20 feet like that. Stopped and shifted into drive, seemed ok. Kinda paranoid I set my trans up for failure soon by having that mishap. You guys think I have anything to worry about?

 

No it won't hurt the transmission

But I would check column shifter mechanism for looseness

Google: Ford ranger column shifter

Very common issue on all Ford trucks with column shifters
Usually just 2 screws are loose and need to be tightened