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In Drive but acts like Neutral?

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Backed my car a bit down by driveway to line up to pull in to my side of our garage. Driveway is very slightly sloped away from our house. After backing up I put it in D (and D was indicated on the display) and pressed the go pedal. Nothing. Except the car rolled backwards. Pressed down for D a couple of more times and same response. Put it in P and then back to D and this time it worked normally.

Model S P85D / 2017.50.2
 
When you push down lightly on the shifter it will shift into neutral... you need to push a little harder past the first detent to get it into drive. It certainly sounds like you did that though as you said it indicated that it was in drive on the display.

Might want to call the 800 number and see if they can find anything unusual in the logs. If you noted the date and time that it happened that can help them in their search.