More than likely the shift lock solenoid is failing. I attached the description on this system. When you press the brake pedal the BCM sends a signal to the solenoid to release it.
Unfortunately this is pretty common so there are a lot of videos online of people repairing this.
If you can't repair it then the shifter will need to be replaced.
Let me know if you have questions. Thanks
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Wednesday, October 23rd, 2019 AT 2:50 PM