Hi.
There are different faults that may result in the same problems. Check the shift lever linkage. Check the brake light switch located near the pedal. Replace the transmission fluid to drain metal chips in the fluid. If that does not fix the problem, the valve body or the transmission may be damaged. As first action do a full code scanning at the dealer place to reveal if transmission-related code had been stored in main computer and transmission control module.
Regards.
Ginko
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