Okay, I finally found the info I needed and got the SUV home. I have posted it below if anyone else needs it down the road.

AUTOMATIC TRANSMISSION OPERATION
Brake-shift interlock
This vehicle is equipped with a park/brake-shift interlock feature that
prevents the gearshift lever from being moved from P (Park) when the
ignition is in the ON position unless brake pedal is depressed.
If you cannot move the gearshift lever out of P (Park) with ignition in
the ON position and the brake pedal depressed, or when the ignition is
in the OFF position, it is possible that a fuse has blown or the vehicle’s
brakelamps are not operating properly. Refer to Fuses and relays in the
Roadside emergencies chapter.
If the fuse is not blown, perform the following procedure:
1. Apply the parking brake, turn the ignition to OFF, then remove the
key.
2. Push the tilt steering lever down and tilt the steering column all the
way up.
3. Locate the round access plug on
the underside of the steering
column cover.
4. Remove the access plug using a flat-head screwdriver, then insert your
finger and pull the override button toward you. With the button pulled
toward you, apply the brake pedal and shift the transmission into N
(Neutral).
5. Reinstall the access plug cover, start the vehicle and release the
parking brake.
Do not drive your vehicle until you verify that the brakelamps
are working.