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I have the exact same problem with my 2000 Grand (3.8L). It's happened about 5 times so far. It will go into drive eventually - helps to put it back into park and wait a few seconds. I haven't had it checked yet but was planning to take it to the Chrysler dealer. I'm just trying to gather info before they tell me they need to replace the transmission!!
Everything else works fine - shifts no problem once I'm moving. If you find out anything please let me know.
Thanks.
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