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Q:

Stepping on brake peddle doesn't always allow shifter arm to move out of park on 1995 Mercury Villager

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Some sort of interlock will not always allow shift arm to move from park while stepping on brake peddle
(1) Answer
You may need to get it adjusted. Also, you can check to see that the brake lights are working each time you step on the brake. The system is usually controlled by the brake switch which is usually above the brake pedal.
If you want to find a specialist, here's a directory link for you:
https://repairpal.com/directory?address=53402&car_brand_names=Mercury