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Seems like the safest thing to do on a hill is pull the e-brake, then LET OFF the foot brake (car will move a little), and only then put the transmission into Park.
That way there's no pressure on the pawl in the transmission and you won't have any problem pulling it out of park later.
The owner's manual in my 2004 says something about the possiblity of having to push the car up the hill a little to relieve the pressure on the pawl before it can be taken out of park.
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