Hello
this car's automatic transmission is electronically controlled and has what is called a locking torque converter, a torque converter is a fluid coupling that connects the transmission to the engine, inside this torque converter there is a electrically activated magnetic clutch that locks up the fluid coupler just like the clutch in a manual transmission setup, these clutches can fail to release and will cause this symptom you have, if the transmission fluid has never been changed I suggest you change the fluid, a flush of the trans would be best, transmission fluid wears out and can cause these symptoms u have, also the clutch is supposed to unlock/disengage whenever the brake pedal is applied, if the fluid change doesn't cure the problem and you have no electronic fualt code for the torque converter clutch circuit then the torque converter must be replaced, this is not dangerous just very irritating. If you haven't had the transmission control module tested for fault codes I suggest that been done 1st.

To be honest here iam thinking about this ,but i assume its a manual ,also where you are doesnt have a mandatory yearly motor vehicle inspection .just a emission test. Now never mind any answers about plugging something in and checking this or that on the computer ,take the vehicle to a proper mechanic and get them to jack vehicle up ,support the front on stands and put a crowbar in the wheel rim and give it a proper vehicle inspection old school .Because i could be wrong and no doubt i am but from the description i think the lower track control arm ball joints are worn and possibly evan the track control rod end ball joints.please do this because iam not concerned about a couple of dollars on here ,not if you have a kid in the car and this problem is an indicator of worn suspension ,worst case scenario is the joint separating and the wheel turning sideways whilst going around a bend .Trust me here seen it ,had it happen to me as well .GET IT CHECKED .