[svxistentialist]

The key does not come out while the car is in D because a solenoid keeps it locked in. This solenoid is probably not clicking in on yours.

Either the solenoid is broken, or you have a loose connection. Probably a loose connection. Take off the plastic cladding on the steering column, and check the wiring to your ignition switch and its loom are all tight. They get loose with age and wear.

Joe