I haven’t had this happen in my D5, but it happened in a Discovery Sport that the dealer lent me. I pulled up at the dealer when returning it, and after I stopped it put itself into park, the transmission knob receded, and the engine turned off. I hadn’t done anything other than brake gently to a complete stop. The dealer thought I was stupid when I mentioned it.
Actually, being female, the dealers often don’t pay any attention to any complaints I have about the car. I’ve learned to take photos of error messages, otherwise I’m just dismissed off hand. I don’t know anything about mechanics and electronics, but I’m fairly observant.
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