2019 Off Road shifter problems

Lately I noticed when I shift down into drive , my shifter feels stiff, but then will loosen up. But, today I noticied my “D” on the console did not light up, and no indicator on dash to say what gear it was in, also cruise control would not engage. So i out it in neutral and then shifted back into drive, and it fixed everything.
Is there a shifter module or something needing repair?
Any suggestions?
Thanks
Barry

 

It's likely the Park neutral Safety Switch, I just had it fixed on my 2016.

 

Another possibility is the cable has dislodged from the body under the truck, check the cable from the trans into the cab.

 

That something my regular mechanic can replace or go to stealership