Yes, it could be linkage related, but also could be a misaligned range sensor or malfunctioning valve body.
I would have to start with the linkage first though. To check this, follow the black cable down to the transmission. You will see where it mounts to the tranny. Just below this point, you will see a lever and on the case of the transmission, you will see some markings that denote gear positions. Put your shifter in "1st" gear and see if it lines up. Then put the shifter in Neutral and see if it lines up, then park. If they all line up, you will know that it's not your linkage. If not, then you will need to adjust your linkage by way of the nut at the bottom of this mounting point.
As you can see in the image above, you simply disconnect the cable from the assy and rotate it to either lengthen the cable or shorten it.