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Every once in a while after starting the car I can't get it out of gear. What is the problem?
It's common on C5 and C6 auto shifters. Once the car is started, it sends an electrical signal to a Park solenoid which releases the shifter locking pawl, thus releasing the shifter to allow to move out of Park.
Sometimes the shifter solenoid is late in getting energized, and will not release.
Most owners just tie back the locking pawl thus eliminating this issue.
GM only wants to replace the shifter, which doesn't fix the issue.
The solenoid cannot be replacec as a single unit.
Here is the pre-amble and fix.