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Hi,
No, you cannot select the gear if the Tranasmission is in 'D', if this is the case with your Car, then there is a fault, probably in either the Control Unit or in the Linkage. The Linkage contains an electronic switch and these have been known to become stuck due to dirt and grease which can accumulate around it. I have a friend who had the opposite problem, he could not shift into Manual mode. The Dealer cleaned and lubricated the linkage and this solved the problem, perhaps this may be the same with yours. Hope this helps...
Happy Motoring!... Jim'99
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