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2007 Volvo XC90 - Won't shift

Car starts without any problem, but will not shift out of park. Usually will finally shift into Drive/Reverse after waiting a while/trying over and over

My wifes car does that when you try moving the shifter before or at the same of stepping on the brake.

Finally got her to slow down on trying to get it in gear.

Don’t even touch the shifter until she steps on the brake, Doesn’t have the problem when doing it that way.

When she does screw up, she has to let go of the shifter and take foot off of brake, then step on the brake, then touch/move the shifter.