There are several different versions of 2010's and different shifters. From your profile picture, I think I see you have the shifter on right side of dash. If so, then it could be adjustment or could also be worn pars in shift linkage. There are adjustable yokes on shift rods to shorten or lengthen as needed. If there is excess play in quadrants or linkage, that will need to be repaired to shift properly. You also could have internal wear on gears, synchronizers or shift forks. Tractor needs to be split to repair those issues.