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2011 MKZ hybrid gear shift will not move from park to R or Drive

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Even when I have my foot on the brake, I cannot move the gear shift out of park.  This is a safety measure that has been on all cars for years now.  If the car does not immediately shift out of park, I have to repeatedly tap foot on brake pedal or even repeatedly stomp on it, then the safety switch will work so that I can move the transmission out of park.  Sometimes only a few taps, sometimes a minute.  Does anyone know the name of the part to replace or otherwise how to fix?  I see for some cars it is called the shift actuator, shift safety lock, brake transmission shift interlock solenoid, or neutral safety switch. 

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