I have it every Day almostWell, I can't say "has never happened while driving" anymore. Today I backed out of my driveway, shifted to drive, and was on my way for a 15 mile drive to my destination. After about 2 miles that "Shift to Park" message appeared. I was able to retire it by hitting the down arrow on the steering wheel as though I was changing EVIC screens. It repeated the message about every 2-3 miles and I could retire it by hitting either the up or down arrow. Maybe any button would retire it. I stopped at my destination and turned the truck off. Left to return home and the message did not appear again. Nor has it appeared on any trips since then.
There are no effects, no damages, no symptoms, and no codes. I still believe the computer just screws up, is just an anomaly, and it corrects with an ignition recycle. If it happened with any frequency I'd be concerned. For me, the last time this happened was months ago.
Nobody seems to have the solution