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the level wmay be OK but I'd take a look at the colour of the transmission oil it should be a dark red colour if its black then its needs changing together with its oil filter. Also check its level with the gearbox warm and just after you've moved the selector through all the positions leaving it for a few seconds in each one and then back to park.
If that’s all OK then check all the connections to the solenoids on the top or side of the gearbox, remove each connector in turn and spray with contact cleaner. Check that the wiring to the gearbox is in good condition with no chafing or frayed wire
If this is OK then check the selector lever linkage / cable under the car for any broken parts and or missing bolts as if this is coming adrift then it can rub on the car body or just bind up
Then - you should top up if low and re try it - or, if its level is ok - and condition is ok - then the next step is to drain it off - open it up and clean the filters inside -- refill and retry it..
Often - just doing the above cures many troubles with these - and you certainly can't condemn the unit without doing the above...
Many thanks for the advise which will be carried through. The details you provide are the first idea of an explanation I have been given and I am grateful.
Many thanks Richard