Sounds like the shift interlock has failed. This is what releases the key when you put the vehicle in park.
So if it is going to park and it is not releasing the key then I would expect the PRNDL lights to stay on until the key goes to the off position.
So I would address the key not removing first and go from there. I attached the info below on how to adjust the solenoid which is what I would do first.
Please take a look at this info and let us know if you have other questions. Then let us know how you make out with this. Thanks
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Thursday, June 3rd, 2021 AT 4:18 PM