Okay I was able to pull some codes.

For the CAS I get A0B1/not present: CAS: Input, selector-lever position, implausible.

For the transmission I get 507B/present: EGS: Parking-gear sensors implausible.


Some history on the vehicle, transmission fluid, filter, sleeves and seals were changed a few thousand miles ago. It has always shifted great and continues to do so.
Actually I don't notice any other issues. Seems perfectly normal when driving. I'm leaning towards a sensor. The transmission is clearly shifting into Drive, Neutral fine and indicated it on the stalk, and it's even going into Park, it just doesn't think it is.