Every morning when I start the truck and put it in reverse, it takes 3-4sec before it goes into gear. And it makes a hard bum. But when I drive around it is not so noticeable. Is it the differential?

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Hi, no I think there may be something wrong with the transmission, first and reverse normally will go out first on a automatic transmission,
Check your fluid to see if it is topped off properly, and smell the fluid does it smell burnt?
Is the fluid nice and red or dark brownish or black in color?

You may get lucky and get away with a fluid and filter change.

This being said if a fluid change can help it also can make things worse.

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2002 Ford Ranger 2 Dr Standard cab 2.3 5 SPD 7.5 373 gears

Welcome Oliver, Glad you found us. Have fun and enjoy FRF. X2 on fluid level and color. Sounds like filter & fluid need to be changed. Or you may have a vaccume leak somewhere.

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Myrtle: & Danna
1999 Ranger 4x4 3.0 Stepside Ext Cab XLT
2000 Mustang 4.6 Roush Supercharged ( Show Car )
1984 Elcamino 350 330 HP ( Nick's Show Car )
1959 Wife ( Arm Candy )
Danna passed away 5/26/2016

Oliver, welcome to FRF. As stated above check the condition & the smell of the fluid.

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2000 Ranger Extd Cab XLT, 4X4 Off Road, 4.0L, Auto, 8.8 - 4.10's, 01 grille & lights swap.
69 Mustang, modified 5.0, & 5spd.(project)
99 Explorer Sport, 4.0 SOHC, Auto, 8.8 - 4.10's, PW, PL, PM, Cruise, Tilt. (Wife's DD)
05 F-150 2WD Regular Cab. ( My DD)

I agree, transmission. And it may just be normal wear. I am sure that if you give it some gas, it shifts quicker, and harder. The pump is creating fluid pressure inside the tranny. Reverse requires shifting the pressure to a new location, and the seals wear. The delay is the pressure building up to the right number so the shift can occur.