Hey,
I had this exact same problem for a little while..
1) If I turn the key on slowly, it would stick in park, if I turned the key on quickly I could shift out of park no problem
2) I took off the passenger side cover and watched the mechanism move as I turn the key on and off, so if it didn't work I could quickly fix it / I also lubricated the mechanism to make it easier for the electronics to move the mechanism
3) When I replaced the car battery, I have not had any problems since.
hope this helps!
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