This issue is most likely caused by your shifter linkage is out of adjustment. This means when you think you are in drive according to the shifter it is actually not fully engaged. This is why when you turn it off, it says it is in reverse. It is not actually in reverse but the shifter needs to be adjusted so that when it says it is in D it is actually in drive.
I attached the process of how to do this. Let me know if you have questions. Thanks
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Monday, April 20th, 2020 AT 6:30 PM