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Thanks to unpaid advise from a Ford service writer (South Bay Ford in Hawthorne, CA), I was able to fix this problem. It turns out that the brake light switch on the brake pedal also activates the relay to allow shifting into (or out of) park. If you have the same problem, first check to see if the brake lights are working. If not, just replace the switch and the problem should be solved.

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Q: Why won't a 2002 ford explorer shift into park?
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