x2. This same thing happened on my Explorer and I had to have it towed to ford and they had to replace the BPP."Brake Pedal Position Switch
Brake Pedal Position (BPP) switch, located on brake pedal bracket, signals PCM when breaks are applied.
PCM uses BPP switch for releasing tourque converter lock-up clutch when brake pedal is depressed and switching off gearshift lever
shift lock when brake pedal is depressed in "P" position. If BPP switch signal is lost, gearshift lever
cannot be moved out of "P" position. There is no substitute signal."
Could be your problem even though it describes inability to move it from PARK.
Just my 0.02 cents here