This is a common issue on '06+ Impalas, and is most frequent when
parking on an incline. It can be minimized by engaging the parking
brake before putting the car in Park.
Your brake light switch system controls the shift interlock system, you'll need to check that system first. Could be a shift interlock swith has gone faulty or the linkage is out of adjustment.
Check that link out, could be a solenoid issue or it could be that a wiring harness is going bad/fried:
naioa.com/v2/modules.php?stuck+park&start=0
Hope helps.
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