It could very well be the TRS
as Qwertz stated. It could also be the shift lever bushings on TOP of the steering column(high lighted in RED
in the pic below). I just replaced these in my '93 last week, they were not completely worn out or worn through, but instead they had worn in such a way that they were no longer in their correct position. That allowed the shifter lever to move just far enough forward and back on top of the column where it would not come out of gear. It would also sometimes not allow me to get the shifter fully into the LOCK position to remove the key, although the shift position "dial" on the dash, indicated it WAS in PARK. I got these bushings from a local dealer for approximately $3.00.
To get to this point ^^^^^ you will have to disconnect the battery, disconnect the air bag from under the column, remove the lower kick plate and the metal support behind that. You will need to disconnect the shift indicator cable from just behind the steering column cover on the right side(5.5mm), Remove the lower half of column cover trim. The ignition switch(key is next. Turn to "RUN" and stick a little pick or screw or something in the little hole. Unplug a couple of connectors under the column to the right, 1 black, 1 grey. Disconnect the shift interlock switch. After that you should be clear to drop the wheel/column assembly down. To do that, there are four 13mm nuts that hold a "knee destroyer"(take it off you'll understand). Remove the stamped steel brace that goes horizontally under the column(2-8mm bolts). Then there are 2 more 13mm nuts with slightly larger washers that hold the column in place, watch your head with the last one if you're down there it will fall. Set it on the seat and you should be able to follow the shift handle along it's length to the retainers(highlighted in YELLOW
in the above pic). You'll need to have a T-27 torx to remove the retainer bolts and then the bushings will slide out, they are pre "split" in order to install them. You'll probably also need to remove the screws that hold the shift lever position bracket(#1 in the pic below), and the shift interlock solenoid(#5 in the pic below).
Also, I gave the guy the part number(7L278 #4 in the legend) over the phone, first to see if they even carried the part second to see if it was even a GOOD part number. It was and they did, I went and picked it up along with a new shift interlock solenoid for about $40.00.
I don't know if this is your problem or not, but it certainly wouldn't hurt to inspect the bushings since they are plastic. Remember it IS a 14 year old car. Also mine did not have any type of grease or lubricant to keep from getting worn, they DO now. Good luck, Rudy.