Encountered something really odd today. I shifted into P to quickly drop my family off. Then I tried to shift into D. My 2015 refused to shift. After many attempts, I jumped out of the car, hoping a door lock and door unlock will reset it; and that did not work. Meanwhile cars were queuing up behind me and starting to get annoyed. So, it just struck me to power down and power up the car. This finally worked to let me shift into D. It never happened for my last 6 years with different model S. May be a new bug in the software. But a heads up, power down and power up will get you going again if you encounter this.