I think these shifter assemblies would break a piece of plastic. Some youtube videos show how to fix

 

Thought I'd share the outcome of this. The Hyundai dealer had to "adjust the synchros" to get it out of manual mode. Also, the shifter cable was rusty causing it to not go all of the way into park. They removed, cleaned, greased and reinstalled the cable. It now works well and they didn't replace the inhibitor switch. Hope this helps someone else.