I have exactly the same problem on my 2016 X1 F48 20i. My garage used the diagnosis tool to check the fault and it appears it was caused by a faulty solenoids on the shift stick. My understanding in layman terms it’s that the Parking mode signal from the shift stick didn’t get sent to the computer hence the car still thought it is still in D mode, seems to be a common issue for those cars with Aisin gearbox.
My estimate is that it will cost around 1000USD to fix for parts and labour. So I think I will just leave it for the time being as it doesn’t really affect the drivability or safety.
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