I know I've got to fix it but until it's fixed, could I engage the shift release every time I drive? If so, how do I engage the shift release?

 

On my 95 LT1 A4, had a problem where it was very difficult to shift from park if the car was sitting more than 8 hours or so... no issues hot.

I had to remove the BTSI solenoid (not just unhook the electrical) in order for the shift **** to push in all the way and allow the shift. It was a sticky solenoid.
U have to remove center console and pop the solenoid off both ends using a screw driver. This is of course a safety thing, so you need to find a new solenoid.