I had the same problem with our 96 855R FAR away from home. I checked the switch on the brake pedal without success.
I fiddled with the shift lever and eventually got it out of park. We drove home 1000 miles without putting the car in park.
At home I took the console apart and found no apparent problem with the linkage, but it did not go down enough to unlock the lever.
I had read about removing the shift lever - it is pressed on.
So I smacked the top of the shift lever very hard with the palm of my hand. This cured the problem!
I think tha tover time, using the release button on the front of the lever had push the shift lever up a bit.
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