Update: Took the center console apart. There was nothing stuck or blocking the shifter. Disassembled everything until I had the shifter separated and still didn't see anything wrong. I'm guessing the issue is inside the sealed unit.
Update 2
rove the car, parked it heard a loud click, started it up and it started going into M/S again.
Seems like its either a software issue (I attempted resetting the code) or the mechanism is getting stuck time to time. Will provide more updates if I resolve anything.