Engine light turned on?

Hello, if you have an AutoZone or other auto parts store near you, stop in there and they can scan the engine computer for diagnostic trouble codes stored. Write down all the codes they find, it will be a letter followed by 4 numbers, (ie P0445 as an example). Then let us know what they are and we can look them up and try to help you figure out what's going on with the vehicle.
There might be an issue with the transmission range switch or module, giving incorrect data to the engine computer, it might not be seeing that the vehicle is in Drive at some points. But make sure to write everything down, even if it doesn't seem relevant.

There is a Transmission Shift Lever Position indicator module which is on one of the vehicles data networks, it communicates on the Lin Serial Data Bus 2 network, so this module might be failing, or have a wiring issue near the shifter, has anything been spilled in the area around the shifter, or center console?
Does this shifting issue happen in Reverse as well?

Is this vehicle a Hybrid as well?

https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing

Okay, have it checked for any stored diagnostic trouble codes, even if the Check Engine light is not on right now, there will still be a code stored from when a fault was detected, and it came on. The only issue is that the auto parts stores can usually only scan the engine computer (ECM) and there can be codes stored in other modules as well, pretty much any module on a network has the ability to set and store trouble codes. So if there is no trouble codes in the ECM, take it to a shop that has a scan tool capable of doing a full system scan of every module in the vehicle, and write down every one of them, although you are going to have at least one code in the engine computer if the Check engine light came on. The code will give us some direction as to what may be happening.
This vehicle has a cable that goes from the Shift lever to the transmission to change from Park to Drive, the Lin Bus communications coming from the Shift Lever is most likely going to be for the indicator on the Instrument Cluster. Does it show "D" when you are in Drive when this fault is occurring?

https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing