When go from Reverse to Drive my gear shift gets locked in Neutral & gets stuck

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If I go from Reverse to Drive my gear shifts gets locked/stuck in Neutral and will not go any further or into Drive. Both feet are on the brake at the time. It has taken up to 20 minutes of going Reverse to Drive before it releases and allows me to shift in to Drive. Dealership cannot find any problems, have taken console apart, and problem continues