Intermittently Stuck in Park

[JaK300]

Have just found your forums so hoping you guys can help me. My 2002 S320 cdi intermittently gets stuck in park. Unlike similar problems I have read about on here and other forums, it's not everytime. I had the brake switch changed but still same problem. The dealership also told me that there were no fault codes recorded (they couldn't reproduce the problem). I've also noticed that when it's going to get stuck in P, the engine doesn't crank first time.

Any help/suggestions much appreciated.