I'm a bit confused by your entire experience. You appear to be chasing a shifter issue, however, AFAIK, the shifter has no influence on whether you can remove the key.

I'm almost positive that the key can be removed with the shifter in any position.

So, if this is true, your problem is simply the lock cylinder. This must be obtained from the dealer at a cost of about $100. if you want the key to match the doors. You'll need your VIN and title that proves you own the vehicle.

The removal of the lock is done with a small wire or screwdriver down the tiny hole in the face of the cylinder. I was quite successful with a jewelers screwdriver. When you buy the new cylinder, practice on the new one to see what your objective it. Then, go to the old one in the vehicle and turn the key to the #1 position which aligns the mechanism with the hole (you'll see this on the new cylinder as well).

The screwdriver (or wire) is inserted into the hole and used to press the engagement dog back so that you can rotate the cylinder housing. The housing unthreads from the body of the cylinder. The engagement dog will get caught every time that it comes around, requiring some depression of the dog each time the cylinder rotates 360 degrees. To rotate the cylinder, get yourself some needlenose pliers and tape the tips so you don't scratch it. Needlenose with the 90 degree tips are the best for this job.

Whatever you do, don't continue to drive it the way it currently is. If the cylinder ever gets to the point where it won't turn to the #1 position, you're looking at a $600. repair. I came very close to suffering this with the SD. The old cylinder came to pieces in my hands upon removal.