Well heck lets stir the pot some more I just came in from playing around and trying various things in my truck.
Step one I have the seat belt extenders in my truck so it always thinks the belts are fastened.
With the truck running;
I can put the truck in neutral and get out and move away, it does NOT go into park it does light up and say the key fob has left the vehicle. The truck will stay in neutral and require pressing the brake to shift to drive or park.
With the truck in gear but driven up hill till it just sits holding itself in gear, I can open the doors and walk away it does NOT shift itself to park. I can get back in and apply the brake and shift to any position.
With the truck rolling slowly I can shift to neutral without touching the brake pedal, while it is still rolling slowly I can put it back in drive without touching the brake pedal.
In reverse rolling slowly I can switch to neutral and back to reverse with no brake pedal action.
However;
No matter what I do can I get the transmission selector to stay in neutral when I press the start/stop button to shut down the engine. Brake on, brake off no difference. Door open or closed no difference. If I stop the engine it will place itself in PARK no matter what you do.
So yes if you need to be able to roll your truck ahead or back with the engine off or in acc mode you will either have to put your transfer case in neutral which can be a pain if you don't have a ball point pen or some other pointy object handy.
Or, you will have to unclip the access cover and undo the safety catch and pull the emergency neutral lever and hope it returns properly.