I had the same issue but I have a MT so I can't help that much, but it's generally known that in AT this issue is due to the switch not detecting the P position of the lever. I stumbled upon a lot of discussions while searching for how to solve the issue on my car (which unfortunately still is unresolved..) so you should be able to find it with a but if research. I'm now not able to suggest anything because I'm busy but the information is out there..