2001 Nissan Pathfinder

I own a 2001 Nissan Pathfinder with 115,000 miles on it. When the problem first started it would not happen every time now it has become a real problem. The gear shift will not come out of park unless I use a small screw driver and manaully release the switch in a
small opening next to the gear shift or put it in 4-wheel drive, drop it into neutral then take it out of 4-wheel drive and I can go to reverse or drive. When I hit the brake to take it out of park I can hear the switch on the brake pedal click in but usally I can hear a set of clicks and it would come out of park. What do you advise?

V-6 3.5L

Thanks Dan