There's a nut where the cable splits off to two, It's on the driver's side just under the front of the bed. Tighten the nut and it will tighten your e-brake. The driving in reverse is how the rear shoes adjust to tighten themselves.
The following applies to rear drum brakes. I have never worked on rear disk brakes on a Ram. Adjust the shoes first and then the cable only if you need to. Otherwise the shoes will wear faster at the top than the bottom (won't last as long). Most of the free travel of the brake pedal comes from loosely adjusted rear brakes. If you do adjust the cable, don't over tighten it. It will make the brakes drag.
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