Hello - Above code is P0705 Transmission Range Sensor Circuit malfunction (PRNDL Input). Am I correct to think that is my Shifter (in center console)?

Next - I have seen people here say the Shifter must be bought new (dealer) and programmed by the dealer. Others say a used Shifter can be installed and the car driven with no further fiddling.

Which is correct?
TIA -

Larry
('06 E350AWD E Class, 158,xxx Mi)