After shutting off and restarting is it still stuck..... in "Limp Home" mode?

I imagine that you are stuck because the trans has registered a fault. Probably hits into D and R a lot harder than usual also. Both are the fall back conditions of an electronic trans that is confused. Often they will reset on ignition cycling. Even if they reset the fault is registered and readable with an appropriate tool. It could be as simple as a brake light switch or selector switch. I had one once that had a break in the CAN circuit leave it confused. It was confused because it couldn't receive the necessary info from other controllers through CAN (controller area network).

The first step is to read the fault codes.

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Steve Brotherton
Continental Imports
Gainesville FL
Bosch Master, ASE Master, L1
33 years MB technician