Just out of curiosity:
The manual of the E350 W212 says to avoid putting the transmission into Park as it my damage the transmission. It's a no-brainer, but there is always that remote possibility that someone (driver or passenger) accidentally bumps the Park button during a normal drive.
Shouldn't the engine control software be programmed to not put the transmission into park at speed, even if the button is pressed? If yes, why the stupid warning?