I have a 2014 Mazda CX-9 grand touring. It has about 107k miles. I was recently driving around town and when I went to park, I could shift to park, the engine would shut off, but the vehicle would not power down completely. I have a ridiculous ignition **** for this year (not a key and not a push start). The radio stays on and when I open the door, it beeps and thinks the car is still on, I guess. Any clue what this is, how to fix it, and the approximate cost? It happened twice in the same trip. I was able to temporarily correct it by shifting out to drive again and then back to park with the automatic shifter ****. Still wondering why it’s doing this. Is it the transmission?

Thanks in advance.