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My '11 ZCP has similar behavior and I replicated it by:
1) Start car, go to R, complete (or almost) stop, then shift, it goes to S3.
2) Start car, go to R, still rolling, then shift, it goes to Dx where x=last D mode.
The 1st time I experienced 2) I thought I wasn't awake yet, so I had been observing it since then and tried to replicate. Finally got the above conclusion.
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