Time for shifter bushings for sure. There are 2 up under the car that seem to disappear frequently. My SDL had enough slop in its shifter that "D" was somewhere about where it should have been, "3" was down around "2" and "2" was unselectable. It also went into "P" somewhere around "R".

If you hear a "click" or a metallic noise when you shift or the shifter feels sloppy AT ALL, the bushings are toast.