Ford 1996 Bronco Manual page 184

With the 5-speed transmission you can engage R
(Reverse) only by moving the gearshift from the
left of 3 (Third) and 4 (Fourth) gears before you
shift into R (Reverse). This is a special lockout
feature that protects you from accidentally
shifting into R when you downshift from 5
(Fifth) gear.
5. Once R (Reverse) is engaged, slowly release
the clutch pedal from the floor.
If R (Reverse) is not engaged, continue to push
the clutch pedal in while you put the gearshift
back into Neutral. Then, release the clutch pedal
for a moment and repeat steps 2 through 5.
Upshifting/downshifting
Upshift and Downshift at the speeds that are
specified in the charts available for your engine
and transmission.
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