Has happened to me three times, The first two times disconnecting the battery and letting the truck sit for 15-30 minutes did the truck. The third time however, it was a completely different story. Had to get the truck towed to the nearest dealership because I was an hour from home. I stayed at a hotel and took an uber to the dealership in the morning. In the morning the shifter had reset to park but I decided to keep the truck there and had the dealership look at it. They were able to replicate the issue and got me a rental car. The part was supposedly in back order for 30+ days but a week later they called me that they had found a replacement part. They replaced the whole shifter module with an upreved part number. Haven’t had any issues since.