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There is a switch on the shifter (not be be confused with the interlock switch) which can fail to work properly because of fouling of grease and dirt. This will cause the issue you describe. It can also prevent you from using the tranny in 'manual' mode. The usual tell-tale are the manual gear indicator lights on the dash. Can you shift it manually? Do the dash indicators properly reflect the selected gear? If not, the switch needs to be removed and cleaned. The dealer can fix it in under an hour and for under $100.
Cheers!
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