I have been having this same problem for the last few months. I brought it to Tire Kingdom, and they couldn't get it to happen (of course) so I have to keep taking it back until they can get it to do the same thing. They think that it is some type of sensor in the brakes. I will let you know when I find out what it is. Can you also please post any updates that you have as well?
The finally figured out what was wrong. I had to get the Shift Interlock Solenoid replaced. It cost about $400 for the repair and $100 for the diagnosis. The mechanic said that it could have been one of three or four different sensors or mechanisms that could go bad and cause that same problem. Hope this helps!
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Could be a switch on the brake pedal. Some cars won't let you pull it out of park unless it senses that your foot is on the brake
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The automatic transmission shift lock control switch
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The brake to shift relay
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The rear integration module (RIM)
With the ignition in the ON position, battery positive voltage is supplied to the brake to shift relay coil. When the RIM energizes the brake to shift relay, the brake to shift relay switch contacts close suppling battery voltage to the automatic transmission shift lock control switch. The circuit continues through the normally closed switch to the automatic transmission shift lock control solenoid. The permanently grounded solenoid is energized. This locks the shift linkage in the PARK position. When the driver presses the brake pedal, the contacts in the automatic transmission shift lock control switch open. This causes the automatic transmission shift lock control solenoid to release. This allows the shift lever to move from the PARK position.
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