Getting a PRNDL error

Clarification - when I said swap one of the original relays, I mean one of OEM relays from another slot on the fuse board.

Put in one of the relays you recently removed, and you will see it also solves the problem. Shift indicator errors are caused by the transmission range sensor, formerly known as the neutral safety switch. The older style used four to six individual switches in the assembly. Various combinations turned on for each gear selection. When any one of them had an intermittent connection and did not turn on at the appropriate time, it was seen as a non-existent switch pattern that could not be interpreted. The newer style is a variable resistor, similar in operation to a throttle position sensor. With a little dirt or bad connection on the movable contact, it can send a signal voltage that does not correspond to any of the gear selections. That will also cause a shift error. There should be a diagnostic fault code to confirm that.