After idling in park, my 2018 s60 could not shift into drive; engine malfunction light on. I shut car of and restarted several times and then it was ok and light off. What gives? Dealer does not know answer.

 

ask to speak with the repair shop manager not the service advisor at the desk. They can research with factory help if there's other reports.

In the mean time check for anything obvious like carpets in the wrong place messing with the brake pedal, food or beverage spills into the console, note any notchy feel of the shifter, steering column lock/unlock (anti-theft devices are connected). This may be useful to the technician diagnosing the problem.