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My 02 R/T was and is doing the same thing. But when I took it to the dealer for my trans that wont go into park, I forgot to ask about that problem. It only does it once and awhile. It seems to be only when turning corners or turning into parking spaces. If I find anything out I will let you know.
electronic shift right? I bet the motor that controls the shift is out of adjustment. download the manual and reset the motor (remove & reinstall). this should fix it.