Hello,
It sounds like you have a faulty shift interlock solenoid.
When you press the brake that solenoid gets triggered and allow you to shift out of park.
It is located under the shifter on floor shift model trucks.
I have attached the replacement procedure for the floor shift model (if you have column shift let me know and I can provide that info as well).
Let me know of any questions.
Thank you.
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Thursday, September 16th, 2021 AT 9:48 PM