Seems like a faulty selector position switch or logic. We had a mild version of that in our old minivan. When in park, all the selector positions lit up. It didn’t affect starting though, only the display.

Does the steering lock release?

Stupid question - are you sure this isn’t a hybrid or stop-n-go engine in which the engine doesn’t start until you step on the accelerator? Or it needs your foot on the brake pedal when you press start.

Sixto
98 E320s sedan and wagon
02 C320 wagon