Won’t go into park position

Hello, it's impossible to know what is going on without a hands on inspection for your concern. It does sound like a probable problem within the transmission or even perhaps the all wheel drive system. Since these components are electronically operated but mechanically controlled, it's impossible to know without hands on testing with proper test equipment to see what is being commanded and what is happening as a result. Another big concern is the shuddering, which sounds also like automatic transmission related concerns. Again, hands on testing is needed. www.repairpal.com/repair-shops