We had some snow recently ( couple inches). I was driving but stopped at an intersection. Car was in drive but started beeping about being in Park as well as showing I was near the next car.

I put it in park and drive a couple times. It cleared up and I drove on.

Do I have a sensor that is going wonky?

 

Sounds like it. Trying cleaning them.

 

If your bumper's parking sensor(s) happen to catch a flake of snow, or develop ice on one or more of them, and you're driving less than ~10mph, you'll receive that parking sensor alarm.

The alarm you were observed wasn't telling you to place the car in park, but merely telling you the parking SENSOR was in alarm.

The alarm WILL CLEAR when you drive ~10mph+, or the sensor is "cleaned". It could be cleaned simply by going 45+mph and the wind merely 'blows off' whatever is obstructing the sensor. I think the alarm also stops when you put the car (transmission) in Park. Not sure about that one though.

In the winter, I'll often receive the alarm you described, especially when it's a 'wet' snow, enabling it to stick to objects like the bumper, easier.

Worst case scenario with the sensors is something hitting one and physically damaging it. I also had that scenario! However, using the wisdom & knowledge of this site, I read a post suggesting sanding the tiny circular sensor, then painting it again. I did exactly that, and using the touch-up type paint in the nail polish type of applicator. That permanently fixed my sensor fault.

You can also shutoff the parking sensors system entirely, using the pushbutton switch above your left knee while seated in the driver's seat.

Here's a thread I initiated a while back... https://www.clublexus.com/forums/ls-...t-working.html