Update:

After clearing the codes for the 2nd time, I got under the car (with a wheel chock in place of course) and tightened the 5mm bolt that puts the transmission into physical Neutral.

Then I loosened it to just right where it starts to lose tension on the lever.

It went it to Park after I did that. Cleared the codes, test drove it, and no codes have returned so far.

Thanks for the support. I'll update this thread if the issue returns.