I have 2000 with the 4.0L v6 with the 5 speed, when trying to get into 2nd gear it takes a while before the shifter can go all the way back so I can start letting the clutch out to get into 2nd, when I try to get it into 2nd it gets caught up for a couple seconds right after getting out of neutral.

I rev match when downshifting and Id say im decent at it, Ive tried rev matching before trying to put it into 2nd, double clutching, double clutching and rev matching before trying to put it into 2nd gear but it always gets caught up for ~3 or so seconds before I can get it into 2nd.

I can yank it into 2nd and not have to deal with this but my guess is I should not be doing that, I just pull back not to hard trying to get into 2nd, keep applying pressure when it gets stuck and wait for it to be able to be pulled all the way back into gear

Also having the same issue with reverse

Anyone know whats wrong/what needs to be replaced?

 

Try a few tests.

Does the truck shift into any gear with ease with the engine OFF?
Does it shift into suspect gears with ease while parked, level surface, engine ON?
Shift to neutral, wait 10 seconds, clutch in, wait 5 seconds, shift into reverse, is it easy to do?
Repeat above procedure with 1st gear as well.

Typically, difficulty shifting into 1st/Reverse gear while stopped and running is an indication of a worn pilot bearing, or worn input shaft bearing.
Difficulty shifting into specific gears while stopped/moving is indication of worn synchros
Difficulty shifting into multiple gears is often an indicator of incomplete clutch friction disc release (dragging clutch) caused by stretched/misadjusted clutch cable/linkage, or air in the hydraulic release system, which is what the ranger uses.

Depending on the mileage of the transmission, it may be time for a rebuild. But a rebuild would first warrant inspection to see what does and does not need replaced.