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98 Accord Parking in hills issues

I have a 98 Accord with 237K miles. Very proud owner because it still runs like a champ. However, I have noticed when I park in areas where there is a slope, either a hill or a bump, after coming back to move the shift into D or R, the shift feels hard to move and makes a noise like something has been removed hard from the transmission. If I recall well, it has always done it. My questions are: 1) Is this bad for the car? 2) Is this because there is not enough pressure on the parking break to hold the car so it holds with the tranmission? How do I fix this probem if so?