Theory of Operation
WARNING: This page is about a different car, the 2011 RAM Cab & Chassis. However, it is still accessible from the selected car via links, so may be relevant.
The transmission PRNDL diagnostics will detect transmission stuck in park error, if the vehicle speed is greater than a calibrated threshold and selected gear is PARK according to the received CAN message. It will also detect transmission stuck in drive error, if the engine crank state is seen while the selected gear is DRIVE according to the received CAN message.