2020 Ranger XLT 2.3L EcoBoost I4 Engine with 80,000mi. 2 problems back to back.

1) After driving with a warm engine, shifted from Drive to Reverse and had a Clank towards the center rear.
2) Upon turning it over from a cold engine, shifted from Park to Drive and received a "Transmission Not in Park" notification on the dashboard accompanied with beeping. Notification would appear every time shifter was out of Park. Shutting vehicle off and turning back on "fixed the problem" temporarily.

Garage notes and finds: Garage 1 (whose opinion was possible transmission problem) suggested transmission shop. Transmission Shop (whose opinion is electrical problem) recommended the Dealership to examine electrical and computer parts. Ford Dealership identified a code recommending a replacement of the catalytic converter and replaced it for free under Emissions Warranty that is honored with a cap of 80,000mi max as well as reprogrammed the PCM "Powertrain Control Module" and gave it back. Problem 1 has not repeated. Additionally, gear shifting became smoother.

Problem 2 appeared again the following day after receiving it back from the Dealership with identical steps and order of operations (cold start, shifting from Park).

If anyone has had these problems or has recommendations on where to check and diagnose, let me know.

 

Problem 2: "Transmission Not in Park" turns out to be a safety notification every time the vehicle is in gear while, at minimum, the driver side door is open. A silly mistake but something that hasn't been posted that I have seen. So, a learning lesson for all those who have their door open and are working on or moving their vehicle.