Hi,
I have a 2013 Ford Edge Sport. It is an AWD. It had the same problem with giving an error message, shift to park, when the car was in park already.
The solution is to have the dealership change out the gear shifter. It has a defect. My dealership had the part in stock already, so I was able to get it fixed in one day.
It helped to tell the service writer that the shift to park was a problem, and that it could be fixed by changing out the gear shifter. My sister's Ford Explorer Limited (2011) had the same problem.
Hope this helps!!
Suzette
