So I figured out how to fix it, and it ended up being stupid easy. I uploaded a quick video showing the basics of how to permanently (cross your fingers) fix it in under 5 minutes with no tools needed. I actually rented the ACDelco service manual for 3 days in anticipation of this being a huge ordeal, but it was completely unnecessary for this fix. All you need is a needle nose pliers, tweezers, or a metal probe to bend the switch as seen in the video.
My video shows it with the little protective cover already off, since I put everything back together and forgot to put it back on. I decided to film a quick video while replacing that little cover, and it took a total of 3 minutes including pausing the camera to maneuver into place. After the fix, I sat there and shifted back and forth at least 50 or 60 times, and it never came back. I could never have done more than 8 or 10 shifts before without the error popping up. My wife is driving it around town right now running errands, and it's completely fine.
My video showing the disassembly and how to get to the switch:
Another video giving a better description of the malfunctioning switch:
Good luck!