I have a 2007 F150 4x4 250k miles.
Regular maintenance
2 weeks ago, had a 1-2 second rumbling (like going over speed strips on the freeway). Was told to change out plugs as well as do a trans flush.
All above were completed 2 weeks ago have not had any reoccurance

Current issue: I have noticed since replacing the gear shift cable wires I have to almost hit the gear shift into park. When I took into the dealership I forgot to ask them to confirm the linkage was correct. I still can start the truck, etc... it just requires some wiggling of the gear shifter.
Tonight started messing with the gear shift cables, hoping to "correct my issues".

Noticed on the test run the following issues:
Park to Reverse - Reverse lights come on ( as well as sensors)
Drive to Reverse - No reverse lights come on (no sensors either)
--- Research said to possibly change Transmission Range Sensor...

Drove hard down the street.. It was like she had just ate a pot of pasta and did not want to move... Put her into park then drive... She was great...
Can run her through all her gears and she sounds fine. No jerking.. Nothing.
(the limp act happened a couple times when I would manually shift from Park to Drive... Reverse to Drive).

Threw her into reverse and I swear she vibrated and it almost felt as if the tires were skipping the vibration was so bad.
Yes, I was going at a high speed when this happened.
Got home to put her into the garage, (slowly) and it started shaking again. Made it into the garage but prayed the entire time she didnt jump and go through my daughters bedroom wall.

So... Guess my main question is... I see to change the TRS... but would a bad TRS cause these other issues>?

I have a code reader, no pending or underlying codes came up.... No check engine light, etc.

 

Update to our issues... Changed out the Transmission Range Sensor....

Fixed: Reverse Light Issue
Going in drive - engine revving but not being in the right gear (lugging version)

Still have issues:
Put in reverse... hit the gas hard... SHAKES LIKE CRAZY...
Put in reverse, lightly hit gas while the back is going uphill.... Shakes like crazy.

Anyone anyone... have a suggestion?

 

Just got back from the mechanic.. one thing motor mounts are shot.

Hoping this fixes this - will keep updating.

 

Picked up the truck... They called and said.. All is fixed... (they tested it in the AM) but did state, might be something wrong with your transmission, truck is not like it was...

Got there, and put the truck in reverse, hit the gas and RPMS increased but truck barely moved.
Put code reader on Code P0720 & P0722 (transmission sensor codes)
Dropped off at Transmission shop - Waiting for response now.

 

= = =
I have a similar issue with my 07,5.4,AT, XLT. What ended up being your issue?

 

Loss of reverse with no other symtoms is likely a broken reverse band and requires a total teardown of the trans to replace the reverse band.