2002 V70-T5 Operationally tranny works fine. Smooth shifts and no funny sounds.

At times when I go to park position - the light will stay in R and I get weird display on dash instrument panel gear indicator. Dashes etc
Then when I move from park to R - get a solid clunk. Does not clunk in D position. When driving it is very definitely in limp mode.

Shut car off and and restarted and moved gear selector through all the positions and it clears and then operates normally, and dash display returns to normal. Till the next time

Is it gear selector switch on console or PNP switch under the hood?
Can a tranny shop scan this or does a dealer need to do it? Easy to diagnose and repair?

Thanks to all who have experienced this

PNP. Easy to replace.As I recall, expensive but easy. Google it.

Changed the PNP switch - its important to scan and clear codes. All works well.
Previously drained tranny fluid - was way too high. Replaced using Toyota T-IV 3 litres - drove it till warm checked and added another .5 litres - and dipstick is right where it should be when hot.
No weird displays and shifts well. Installation was easy - alignment was not an issue - worked well from the start.

Thanks