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2012 Countryman R60 Automatic, 287D and transmission won't engage
While driving it today (it has about 130K miles and is in great shape - automatic transmission), upon leaving from a stop light, there was a loud noise, some grinding and the transmission now won't engage. I pushed it off the side of the road. There are no puddles under it, no parts fell off... no dash lights or check engine light. But when you put it in "D", it won't engage and you can hear what sounds like grinding from [presumably] the transmission gears. The car idles fine in neutral. Even Park won't engage and I hear grinding when trying to take it to "P".
I went home and got my OBDII scanner and while there is no code on the dash, it has a code that comes up: 287D.
Right now, it's on the side of the road, hazards on, car off, in "P", parking brake on. Obviously, I need to get this towed, but any thoughts on the issue, based on my description on what preceded it and how it's behaving now?