It automatically shifts back into P when trying to move forward or reverse if any door is not closed all the way. Are you sure they all were?

Was there any error in the idrive? The only transmission-related problem I've experienced was 2 times in 3 years - in my driveway it wouldn't shift from P, into D or R to begin with. I had to shut off and turn it back on.

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'08 X5 3.0si - Alpine White / Saddle Brown interior
Specs: Sport Pkg, Premium Pkg, Tech Pkg, Comfort Access, Aero Kit, Style 433 staggered 20s on Conti DWS
Mods: Carbon 35 tint, LED angel eyes, GP Thunder 7500k fogs, H&R 20mm/25mm spacers, clear reflectors, gunsmoke-tinted taillights
Coded: Digital speedo, windows/sunroof/tailgate close via keyfob

X5 pics at Flickr