2009~2013 Mazda3 2.3L shift light (PRNDM) flashing

Car: 2009 Mazda 3 Hatchback, 2.3L. 85k miles

The behavior:
The gear indicator light sometimes blinks while driving. The car is not going into limp mode or getting stuck in 3rd gear. This happens both at high speed and low speed while both in drive and manual mode. This usually does not happen for very short trips but maybe 10 minutes into my 20 minute commute it does. If I just make a local run to the store (surface streets) it is fine. I suspect it is an issue when things start to get to operating temperature. I have noticed that if the light is out for a long period of time (maybe half a second to a second) sometimes there is some loss of power, though not enough to drop from freeway speeds.

When the car is turned on in the morning the P light is not illuminated sometimes. I then move the shifter back and forth and the P light comes back on.

Videos:
Morning startup:
Lights blinking while driving:
Lights blinking while driving in manual then switching:

The car has had quite a few things done to it.
1) Replaced the TCM with OEM factory from dealer
2) Relocated TCM to break lines and off the transmission
3) Replaced the sensor on the front of the transmission
4) Replaced the alternator (at suggestion of one of the shops as they claimed they were seeing a low voltage flag)
5) Checked for voltage differential from battery negative to case ground on TCM while running
6) Check shift cable tension (asked dealer to take a look at this as well)
7) Battery was load tested, they suggested replacing it because of the age but it passed their tests
8) Shop diagnosed that my AC compressor is shot, it did stop working so I believe them on that. Not going to fix that, this issue was present before that happened.

The car is currently at the dealer and they have said they are having issues with recreating it. This has been a common theme between them and the shop I normally take it to. I have provided videos so they know what they are looking for, just have not seen it for some reason.

I am stumped on this so far. Only other thing that was suggested to me was to make sure I do not have a flaky fuse or relay. I have seen some posts that have similar behavior but usually it is the TCM or the transmission sensor.

Any suggestions for things to look at would be super helpful! I will not get the car back until Monday/Tuesday so I am trying to plan what my next steps are.
 

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