Could be a bent parking pawl from engaging park while the vehicle is still moving. The park setting on an auto pushes a steel rod into a hole in the gearbox mainshaft so if you engage park when you are still moving it will eventually bend the pin and it will stick. You may be able to use force via a bar, at the gearbox end where the shift cable connects, while an assistant rocks the car back and forth. If you get it free, do not use park any more, instead use neutral and the handbrake.
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