So, after some research I found that I am not alone in this intermittent issue. It has only happened twice, but the ESC lamp will stay on and you can't get it out of Park. Both times, all I had to do was shut the engine down, then restart, and the ESC lamp went off, and it could then be shifted into Drive. Apparently this is a software limitation and will correct itself over time. Sounds weird to me but I will keep you posted. Anyone else get this issue yet?