Vehicle in park / stuck in accessory mode

[Med_Mike]

I have a 2019 Ram with 66K miles. Has been great. Couple of days ago I attempted to turn the truck off and the engine shut off but the truck stayed in the accessory mode with lights on and radio on. Pressed the push button and it turns on with break pedal pressed as it should. Pressed on/off button and goes back to ACC mode instead of shutting everything down. At times I get a message on the dashboard "Vehicle not in park." I shifted through the gears which didn't help. I unplugged all charges and dash cam, nothing. Unplugged the battery and reconnected, everything shut down as it should. The problem returns when I start the truck up again and try to turn it off. Have to carry a size 10 wrench to disconnect and reconnect the battery as if I don't do it the truck stays in accessory mode and drains the battery in 2 hours. Another issue that I noted is that the passenger electric step goes down within 10 seconds of me driving despite no one opening doors on that side, it comes up immediately and stays up throughout the rest of the drive.
Otherwise, everything truck drives without any issues. Everything shift as it should. No codes when scanned.
Could it be the shifter switch? But wouldn't that cause cause other issues with shifting? Could it be the body control module?
Have an appointment with the dealer in 2 weeks. Would appreciate any help if anyone experienced this

 

[BowDown]

Could be the shifter knob or the linkage on the trans. Mine did the same thing a year ago when a lot of snow and slush hit stuck in the shifter lever on the trans. Basically the truck doesn't know that it's in park, it may be in the trans too but those 2 places are where I'd start

 

[Med_Mike]

Problem solved!!!
Checked all the wire connections, no luck.
Disconnect the battery overnight, still no luck.
Checked the body control module and looked dry.
Noticed that my battery would not charge over 12.2 volts. Drove for two hours and the dash voltmeter registered 13 to 14 volts. After turning the truck off the battery would stay between 11.9 and 12.2 volts. Replaced the battery as it was under warranty and all issues resolved. Truck back to normal. Must have been a bad cell in the battery.
Saved $200 to $600 bucks on diagnostic fees at local shops based on the quotes I received.
Of note, there is a shop in Miami/Homestead that sells preprogrammed body control modules based on the VIN, luckily did not have to buy one, but had it as a backup plan.
Hope this helps someone else