According to the 2008 Rogue info I can find, the shift lever cannot be shifted from the P position unless the brake pedal is depressed while the ignition switch is ON. so make sure that’s being done. Make sure the brake lights are coming on when you do this, get an assistant to look. From what I can see there’s a sort of rod or lever in the brake pedal area, that goes into a slot. That lever is in the up position unless the ignition is ON and the brake pedal is pressed, at which point a electrical solenoid just under that rod should click and allow that rod to fall down a little. Take a look in that area, see if you can find what I just described.
There’s a bypass system for all this, in event you are stuck and need to shift out of Prak. are you aware of how that works? If not, look in the owners manual. while there see if you can find a fuse named “shift interlock”, something like that. If so, check to see if it is ok.
Edit: Found another drawing, that rod/lever ass’y mentioned above may not be exactly in the brake pedal area. If you can’t find it, from what I see. There’s a cable (key lock interlock cable, not a wire, more like a bicycle brake cable) that goes from the steering column area to that area where the solenoid mentioned above is located.