bpattie,
Powerstoke is exactly correct - you need to lengthen the feedback rod so the hitch goes to neutral.
To adjust it correctly, grab one of the two lower links and raise it fully until the rockshaft hits it's stop under the cover. Mark a chalk or magic marker mark on the arm at the top cover - a line to show max hitch height.
Now get on the tractor and start it - pull the hitch position control handle all the way back in the quadrant. With the handle all the way back, the marks should not line up but have a small gap. You can verify this by grabbing the now raised lower link and you should be able to feel some vertical movement before it hits the stop inside.
if not, lengthen the external follow up rod from the rockshaft arm to the linkage that goes under the cover to the control valve. Extending makes the hitch go lower - remember you need a small gap - shortening the linkage makes the hitch go higher.
The reason the loader power is less at full height is the pump is sitting on relief pressure and the fluid will not be as pressurized to do useful work as it is when the hitch is on neutral.
Good luck!
YC