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You need to Bleed the clutch system, common issue with Rangers, you have some air in the system so clutch disc is still rubbing on flywheel and pressure plate, so its not fully disengaging.
Your description matches air in the clutch system exactly
The transmission can not be disconnected from the rear wheels(well you could shift transfer case to N, lol)
So when you are stopped the transmission is at 0 RPMs
Engine is at, say 750 RPMs, idle
So when you want to put it into 1st, or any gear, you have to get the Clutch disc/input shaft from 750 RPMs down to 0 RPMs
When you press down on clutch pedal fluid flows from master to slave and slave expands which pushes on the pressure plate springs which pulls it back, away from flywheel
Clutch disc is sandwiched in between flywheel and pressure plate
Pulling back pressure plate should allow clutch disc to slow down to 0 RPMs, but if it doesn't pull back enough then clutch disc can't slow down to 0 RPMs, air in the system means slave won't/can't expand all the way.
Transmission has synchro mesh on each gear, its a softer metal that matches input shaft RPMs to Output shaft RPMs as you push shifter into a gear, but................this relies on input shaft being free to slow down or speed up to match output shaft RPMs, synchro gear is 5" in diameter and clutch disc is 10", so if clutch disc is rubbing it WILL take a bit of pressure to force the 5" gear to slow down the 10" disc, just physics
So the whole setup relies on the Clutch disc being fully disengaged
You may want to replace the master if it wasn't done with the new clutch, in any case the master sits at a 30deg angle so it can get air trapped at the top if system ever "ran dry", reservoir was empty, you can't bleed this out unless you pull out the master.
Pulling out the master is not hard, and then you can turn it upside down and then bleed system fully to get any air out of the Master