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Try what rusty said and check the clutch switch. Same thing happened to my 5 speed s10. I don't know how s13 clutch switches are wired but all I did for the s10 was unplug the wires from the clutch switch and jump the wires with a paper clip to test. The paper clip method acts like you are pushing in the clutch.
If that happens to be your problem you could simply solder or crimp the wires together and not have to worry about it again. I always religiously wiggle the shifter before startup as everyone should do so starting in gear isn't an issue.
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