Hello, There is an Interlock switch at the top of the brake pedal lever. This switch is the one that requires your foot to be on the brake pedal before shifting. When your car loses the signal from this switch, the vehicle will not leave Park.
Look under the dash and locate this switch. If it appears broken you will need a new one. Otherwise just reposition it in the holder. You can tell if it is correct by observing your rear brake lights. When they light up, the switch is usually correctly positioned.
The other possibility is the shifter. It is controlled by an Interlock which has to be lined up to synchronize the Ignition switch. As you know, there are times when the steering wheel needs a little "wiggle" to get a smooth release of the Ignition switch. All of these parts need adjustment to sync them for smooth operation.
I hope my solution is helpful to you.
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