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I successfully fixed this problem with my i3!
Info screen showing messages "Transmission not in park" and "Drivetrain: Cont. driving, contact service center".
The problem seemed to be that the parking lock module that sits on top of the motor unit (which is really easy to access by pulling up the trunk floor) lost its calibration position.
I fixed the problem by replacing the module (3 torx bolts and an electrical connector), and then performing a parking lock module initialization through a scan tool.
The scan tool that worked perfectly for me is the FOXWELL NT510 Elite scan tool for BMW, available on amazon for around $180.
I suspect that the old parking module was fine and didn't need to be replaced, just re-calibrated, but I’m not going to swap the old part back in to check.
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