2004 Nissan Murano won't go into Reverse or Park

1. 2004 Nissan Murano SL AWD
2. 30519 miles
3. Automatic Transmission
4. Strange sounds or smells (if any): NONE
5. Fluid leaks (if any): NONE
6. Past repair history (if applicable): NONE

After driving from cold engine for about 10 minutes, while in Drive and stopped, I can't get the gear shift into Reverse or Park. The gear shift only moves between N, D-S, and L.

I let the car sit over night, but the problem persists.

This happened once before several weeks ago, but it apparently fixed itself after 20 minutes or so.

thanks!