Take the rubber boot out of the steering column for the shifter. Press "in" the 1/4" square button on top of the shifter base inside the column boot hole. Should shift now.

 

My 2002 Durango had the same problem of not shifting from park till waiting and jiggling the shift lever. Found the problem was a lever which keeps the shift the shift lever in place needed a little grease. You see when you turn the key to on this lever is to move out of the way of the shift lever when you step on the brake. If the lever does not move you will not shift out of park.
Remove the plastic cowl from top of steering column and grease the lever / slide in way of the shift lever which is located above the key area and the problem goes away unless the solenoid is bad.