[A. Souphound]

kegenes:
It's considered a floor shifter. There is a cable adjustment at the base of the shifter.
Your narrative indicates to me the adjustment is marginal, since you can repeat the process and it works. Sometimes we are a little too gentle in placing the shifter in 'Park' and this will occur. To adjust the cable requires removing the Shift lever, Center Console, and Steering Column covers. Unless this becomes a cronic problem I would leave it alone, and try being a little more positive in putting the shifter in Park.
Alvin