When you click on links to various merchants on this site and make a purchase, this can result in this site earning a commission. Affiliate programs and affiliations include, but are not limited to, the eBay Partner Network.
I agree with digitaltrucker. Often issues like this are posted is the battery needs charged or replaced. The charge might be fine to start the truck, not fine to power various electronic modules. Sometimes people don't get out on the hwy often enough to give it a good charge.
I got the not in park message when I was driving with the drivers door ajar (not closed completely). You might want to look at your door switch. Was the dome light on when you got the message? If so, that might be a clue. It could be any door.