2010 Automatic Shifter Solenoid won’t open…stuck in Park

I recently had to charge my battery on my 2010 GT Convertible…done it many times. When done, I found it interesting that the dome lights didn’t come on when I opened the door, but the window electronically shifted down, so I knew there was power. The car started normally, but I was getting all sorts of caution lights…Advance Trac, TPS, others. But more disturbing, when I went to shift to drive, it won’t come out of PARK. The solenoid won’t open to allow shifting.

Any hints on how I can at least get it to shift so I can drive to Dealer?

Thanks in advance