Hello, new to the post. Had same issue with 2019 Sierra Denali, 70,009 miles, took it to dealer, they had it 3 days, said there was a service bulletin about corrosion on transmission ECM. Cleaned wires and put dielectric grease on and they said it was fixed. Drove it home and as soon as I turned off truck, the shift to park message came back. I immediately pulled the column apart, removed the switch, wire nutted the wires together and it went away. Will order a new switch tomorrow! Thanks for all your help.