Welcome to 2CarPros.
Chances are the actuator at the shifter has either failed or the wiring to it has been damaged. Remove the trim panel from around the shifter. You will see an electrical connector on the actuator. Make sure it is tight and nothing is damaged. Next, remove the connector and check to see if there is power to the wire when the vehicle is to be shifted from park. Make sure your foot is on the brake when you do this so it receives power.
Here are a few links that you may find helpful:
https://www.2carpros.com/articles/how-to-use-a-test-light-circuit-tester
https://www.2carpros.com/articles/how-to-use-a-voltmeter
https://www.2carpros.com/articles/how-to-check-wiring
I attached a pic below to help locate the wiring once the trim is removed. If you find there is power, replace the park interlock solenoid.
Let me know if you have questions or need help.
Joe
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Friday, April 9th, 2021 AT 7:48 PM