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On my Honda Pilot I experienced the same problem having difficulty
changing the gear shifter from park to drive. I drove it to my Honda
dealer and the technician explained that the problem was a brake sensor
was worn and needed to be replaced. This is because the brakes must be
engaged before shifting from park into drive and that the sensor gets
worn over time. As I remember, the sensor and labor to install was
somewhere between $25 to $50 to replace. It now works like a charm.
You probably need to replace the Throttle Position Sensor. Its located opposite the throttle cable on the intake. This sensor tells the computer how far down the accelerator is depressed. When they fail often they send all kinds of erratic signals which makes the computer rev the engine.
Sounds like you could have a vaccuum leak. you could spray carb cleaner around your lines and see if the engine's rpm increases or starts running like ****. That would be an easy test to indicate leak or not.
I have experienced this. This seems to only happen when its cold out and you use the defrosters/AC. If thats the case then to fix/avoid this you can press the accelerator briefly (while in park/neutral) just to rev up the engine to about 2k or so, before you put it into gear.
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