Noises During Shifting problems of the 2018 Honda Odyssey

I've had my 2018 Honda Odyssey touring for 2 months; it has 2600 miles. My vehicle shifted into park while driving 70mph on the interstate! the car made a popcorn/gravel slamming against the car sound while felt as though the bottom half of the van was trying to separate from the top!! talk about frightening! it briefly flashed ""collision mitigation"-something,, but it was just on the screen for a half-second. I pulied over to the side of the highway, put my foot on the brake and pressed the drive button. It happened again maybe 10 minutes later on a busy road traveling at 45mph. I arrived at my first destination, researched how to turn off the collision mitigation system, and continued to my second destination. It happened twice on the highway on the way to that destination, flashing the same warning so quickly that I couldn't read it, same noise, vibration. I called the dealership from which I bought it. They towed the vehicle to the dealership. They could not reproduce the problem. "best educated guessed" that the battery was the problem, though I never received a low battery warning from my vehicle, and they performed a battery reset procedure. The dealership expects me to drive my family home in this vehicle without changing or even inspecting the transmission or parking pawl, which was the cause of the load popcorn/gravel noise. I have contacted Honda and a case has been opened.