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I've had similar tranny problems only more serious.
It might help to know the code but
There may be a simple fix, mentioned on this board several times
Turn the ignition key to position two (II) without starting the car.
put your foot on the brake to release the safety switch and move the shift lever from park to low 30 to 50 times
That "may" clean the contacts on your gear position sensor.
It may not and the problem could be something else. Knowing the code would help
If you need to replace the switch the cheapest I found was about $85 through FCPGroton, I think.
You can search this board for posts about replacing the sensor aka PNP switch
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