That's a good sign to help track down the source of the problem.

Did you say you have INPA? (I can't scroll up to check on tapatallk). Pull up Realtime values of the transmission selector switch and see if you have distinct switches into and out of park.

If you don't, also take note does the PRND light up properly on the dash. If there is any hesitation or dash doesn't show P until you push forward there is a problem with the transmission selector switch.

On the 3.0 it's a pain to replace it's inside the transmission. But on the 3.0 it's actually more likely to be a fouled connector plug.

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)