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It sounds like you have a bad brake lamp switch , mounted to the brake pedal.
the next time the problem happens ,, take a note to see if the brake lamps are working in the rear ,,,, step on the brake pedal and if the shifter will not come out of park ,,, then dont take your foot off the brake and have someone see if the brake lamps are working in the rear of the truck ,, if they are not ,, then I would replace the brake lamp switch
we can go back and forth on this page
ok,, tell me what you find ,,, I do not think it is a key switch ,, does not have an effect on getting the shifter out of park