This can be cuased by a sludged up engine throttle valve and automatic idle speed control valve, do the following procedure and this should fix it.
To correct this problem I want you to get a can of intake cleaner (ABOUT $5.00) from any local auto parts store like NAPA or Carquest, do not use carburetor spray, intake cleaner only or u will damage the Teflon coating inside the throttle valve and air bypass valve, it is made by a company called CRC, remove the air intake hose to the engine, hold the idle high so the engine won't stall, then spray the can of cleaner into the intake while keeping the engine running, use at least 1/2 the can, shut down the engine and disconnect the battery for 5 minutes, then restart and complete a number of mixed driving cycles, town, freeway, stop and go etc., after a few days the problem will go away as the system will relearn to the clean intake.
Does it idle ok at stop lights? if it dies there to the idle speed sensor may be bad. if it idles fine until you put it in park then its not the sensor and i would look for A SHORT IN AN IGITION WIRE THAT IS BEING GROUNDED AS YOU SHIFT TO PARK.
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