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Just a guess ....
The neutral safety switch, located on or near the transmission, in the engine compartment, is mechanically linked to the console gear shift selector. There are individual contacts within the NSS that determine which display lights are on. Maybe one of the contacts or connections going to the 'D' light, within the NSS, are not making effective contact, due to corrosion, oxidation, or maybe just loose.
Maybe check out the NSS for clean and tight electrical connections. Not sure if you can disassemble it ... Sometimes, depending on the assembly, you can spray on some electrical contact cleaner.
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98 Camry LE, 2.2L, automatic
50k miles, drop in K&N A/F
 recent timing belt, water pump
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