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Does it show the correct gear selected on the dash, or is the whole PRNDL display "darkened out"?
OK- the transmission control module has a fault. The common issue with this model is water under the floor, from the sunroof drains or the pollen filter housing.
If you slide the seat all the way back on the passenger side, and remove the trim panel at the door edge, you can slide your hand under the carpet and feel for moisture. You can grab the black plastic box under there and slide it fotward, and pull it out from under the carpet (the wiring is long enough to reach) open the box and see if water has gotten insid3, check the connector for corrosion