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That seems to be an issue with the TRS, I had to replace mine too (I have a 2007 as well).
http://www.mdxers.org/forums/74-sec...-transmission-range-switch-safety-switch.html

The shift lever seems to be a little loose on mine as well but after replacing the TRS there are no miss connections even with the slack on the shift lever, I can move my shift lever and it will remain in each gear always.

Prior to that I could move the shift lever ever so slightly and I could artificially pop it off gear without actually changing the gears. For Ex: I could move the shift lever slack in Drive and I could make the D disappear in the dashboard. I could do the same in Neutral and in D3 this is consistent with a bad TRS.
 
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