Welcome to iRV2.
The issue maybe engine idle speed .
The trans controller won't allow a shift into gear if the idle is too high ( 750 RPM if memory serves) .
A 1993 engine is probably a mechanical Cummins and broken throttle return springs or rusted and binding linkage are possibilities.
Can you confirm engine size and trans series ?
If the trans shift pad isn't powered up usually the engine wont start.