If the sensors for the park assist are dirty, it can cause strange reactions from the park assist and that warning. It just takes a light film to do it, so cleaning them off can't hurt.
BUT, yes it does sound like your problem is bigger than that. Could be the Shift Module, don't know a lot about it, but seen other posts similar that ended up being teh shift module.
Makes sense, the park assist as well as the trans is given signals to change modes according to where you move the shift lever, and when the shift module goes bad or sends out stray/bad signals, you get all sort of weird reactions from the systems connected to it.
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