you have torque bind. do a search and you will find a ton of info.
1/ shift to N and wait before you shift to P to shut it off.
2/ test drive the car in slow tight circles on dry pavement and report back.
3/ put a fuse, any fuse, in the FWD holder under the hood on the passenger side near the fire wall and the wiper motor. problem gone?
4/ all of your tires should be the same brand, tread, size, inflation and wear. they should all be with in 1/4 inch in circumference (not diameter). mis-matched tires can cause binding.