2012 Hyundai Elantra error code p0702?

Question

I have a 2012 Hyundai Elantra, today my car suddenly had issues getting out of park. Turn off the car turn it back on bam was able to drive again, it happened again both while leaving the engine on. My husband decided the second time to press the shift interlock now I have a check engine light and my OBDII shows an error P0702, never in my world have I been more car knowledgeable than someone else but... Can someone tell me how to fix it? I live more than 50 miles away from the nearest Hyundai dealership to gain more information about this error.

Edit - Both times my car wouldn't get out of park we stopped for mail at the mail box but left the car on, and I ran into the store both times car was left on. When we turned car off and back on (First time) it would shift out of park.