This just happened to me yesterday...and I was able to fix the problem for under $10.
I was driving and I felt some resistance when moving the lever to the right. I gave it a little tap and heard something break. Pulled over and after moving the selector through the gears (while stopped), I heard a piece fall. I no longer had the ability to shift into park.
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Did some research and found this thread. I looked at the 2 PDF attachments and decided to remove the shifter. I followed steps 16-32 to remove the center console/dashboard. I didn't completely remove the console...just moved it enough to get to the shifter assembly. I followed the instructions to remove the shifter.
You need to take the shifter apart by removing 3 friction clips. Once these parts have been removed, the pins/shafts can be removed. The modification has to be done to the plastic base of the actual shifter.
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There is a metal piece that's shaped like a bullet and it rides inside a spring loaded barrel. The barrel is part of the shifter assembly and is made of plastic. Over time, the plastic weakens and eventually breaks. The only way to fix this is to insert a metal tube inside the barrel...making it much stronger. I tried using glue and tie straps...and it broke right away.
I went to the hardware store and bought a stainless steel tube that was in the K&S rack. This was part 7119 and it’s a 3/8 inch tube that was about 12 inches long. It’s 22 GA...so it’s pretty thick and sells for $8.99. The “bullet” fits with the correct amount of clearance. You’ll only need about 2 inches. Bring the bullet with you so you can test fit the tube to make sure that you're getting the correct one.
INSTRUCTIONS
1. Disassemble the shifter mechanism
2. Remove the Bullet and Spring front the plastic barrel
3. Inset a screw driver in the barrel to determine the depth (ex. 2 inches)
4. Cut the appropriate length (ex. 2 inches) of the stainless steel tube and remove any excess material.
5. Use tape on the drill bit so to indicate the 2 inches (2 inches is used for this example).
6. Drill the plastic barrel using a 3/8 inch drill bit. They to keep it straight because the metal sleeve will be inserted in the new hole. Do not pass the tape!!!
7. Clean away any excess plastic
8. Insert the metal sleeve inside the plastic barrel till it can’t go any further. The metal sleeve should be about as long as the original plastic barrel.
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9. Use grease to lube the spring and inset it into the barrel
10. Use grease to lube the bullet and insert it into the barrel so that the round end is sticking out of the top of the barrel.
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11. Make sure that the bullet moves freely.
12. Carefully reassemble following the steps in reverse order.
13. Insert the pins but do not press in the clips.
14. Press the bypass button and move the shifter through the gears. If everything was done correctly, it should feel like new

15. After verifying that everything is working, the 3 clips can be installed.
16. Install the rebuilt shifter in the van.
Hope this helps. the shifter fells really smooth and it cost $9 vs the possible $600 from the dealership.
Goodluck!!!!
Regards,
05SiennaDriver