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This is a common problem and the fix is to replace the shifter module.
If the car has less than 36,000 miles on it then it will be covered under warranty.
If more than 36,000 miles then call Chrysler and complain and ask for help paying for it as it is a common problem and most times they will help you.
The part will need to come from the dealer, but is a DIY fix. I will attach some information to help.