It's possible your delays going in to drive are unrelated by the PIN. There are others experiencing a similar issue getting in to Drive after the recent SW update. See https://lucidowners.com/threads/car-won%E2%80%99t-go-into-drive.12216/
It's possibly the steering wheel airbag moving. Next time try holding the airbag as you turn. Mine in warm weather has some "play" and will move/knock when making junction turns.
Has anybody been able to confirm that when you can't get in to drive going to the pilot screen and pressing “Openings > Lock vehicle button”, fixes it. ?