Indications from your description is that the shifter ( cable or mechanical ) is loose or out of adjustment and is jamming on the light position switch
If it cable , then have it checked out as with a 1997 model , there is a good chance that the cable is fraying or jamming and is the cause of the problems
if it is all mechanical linkage , then check for worn out bushes or rubber sections
you state that when gear it drives perfectly so by that statement , there is no transmission problems just selecting problems
SOURCE: Gear shifter sticking (auto) from Park to reverse and vice versa.
you need to have the shifting cable lubricated or replaced.
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