This ever happen to you? Transmission Quirk
#12
#13
#14
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I've done this on about 3 different occasions, but each time I went back to check the gear selector, I found that I didn't have the shifter fully seated in the Drive "notch". Next time it happens, try wiggling the shift stick and see if it pops into position.
#15
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Another item to look into is the PRNDL assembly. Even some of the electric ones with the 'box' that appears around each letter have a cable that attaches to the gear selector lever. I think over time the cable and plastic housing can strech and could be off just enough to indicate you are in a gear, but the transmission shift lever is not quite in gear. It may be possible to adjust the PRNDL indicator (by adjusting the attached cable) to better match your transmission gear shift selector.