2002 Protege 5 - Automatic. Just started last week. After a long drive, cannot go to R or P - stuck in N. Will let me go back down to D. After sits for a while, it will then allow it to go into park. Break lights work when it does this which leads me to believe it is not the switch. Done it 5 times in the last week. Any one else had this problem?

 

The link between the shifter and the transmission is via a cable like one you'd find on a bicycle; its path is long and tortuous. With wear, the inner core digs into the outer cladding and changes the alignment between the shifter and the speed switch on the transmission. Luckily the transmission end is adjustable so the system can be correctly re-indexed.
If that's not the issue, you have to confront defective speed switch, solenoids, or the actual transmission.
Within the transmission, if it has been neglected, it can clog and the fluid pressure won't suffice to do the shift.
Check the fluid level and condition first. If it's dark and has a burnt smell, you might be in for big trouble. If the level is good, it's pink or light tan, and doesn't smell bad, go for the cable indexing and follow through from there.