So this has been happening for about 20k miles now. Basically when I sit at idle with the car running and in park for 10 - 15 minutes, I will get a message saying that I am not in park, the P on the dash and the rotory shifter blinks and to says to service the transmission. Check engine light comes on too. When this happens I cannot shut off the car completely. I can shut off the engine but it stays on ACC. The only way to get it to shut off is to disconnect the battery. And now after long trips it does it as well once I put the vehicle from drive to park, instantly. Any ideas on what this could be?