That exact symptom showed up on my '06 when it was only three months and 36,000 miles old.
It was caused by a cheap Park position/foot brake interlock switch, the one that requires us to press the brake pedal in order to move the shifter out of Park position.
The interlock switch can be found about 1/2 way up the steering column, above the service brake pedal, mounted on the steering column. It is a crappy little switch with a pin sticking out of one end (the interlock) and one or two wires entering the switch. Simply remove the bracket that holds it in position and zip tie it out of the way under the dash until you get around to replacing it.
If the interlock switch is physically removed so that the pin doesn't block the shifter from coming out of Park it doesn't hurt anything, just removes the requirement to step on the brake in order to shift out of Park.
Removal probably violates at least 13 federal laws and will cause at least four federal bureaucracies to come after you with penalties for endangering children on school busses and tree huggers lying on trails.