The linkage is adjustable. Before you try to adjust anything, look for worn parts. Adjustment won't do anything if you have worn parts. Look at the plastic bushing in the pivot rod that comes through the floor. My bushing was ovaled AND the rod was worn too.
If you don't find any worn parts, you can adjust the linkage. With the shifter all the way forward, the arm on the trans needs to be all the way to the rear. Loosen the bolt on the adjuster and (with the shifter all the way forward) push the trans lever all the way back and tighten the bolt.
If it still acts up, try puting the lever in neutral and see if it starts then.