I'm going to my dealership this morning. I'll come respond later with a follow up of what goes down.
Edit: I took my truck to the dealership and scheduled service for the recalls, I spoke to the dealership manager and my sales guy and told them the issue. The sales guy could not get the issue to be replicated until I got into the driver seat and made it happen. The sales guy then got into the driver seat and could not get it out of park.
During the service this Thursday they are going to look at the problem. They will run a full diagnostic, software updates and will be investigating to see if this is an interlock issue.
When you press on the break in the 2019-2020's you are supposed to hear the click of the lock disengaging, if you don't it means that it is stuck and won't come unlocked. What ever the makes that click and disengages the lock is what is causing this issue.
I will follow up again Thursday but I'm not going to have my truck torn apart for simple sensor / interlock issue. However, I won't stop fighting over this issue till its solved.