Service esc and solid check engine light

[Lc3m4n23]

Hi everyone this is a long question. Maybe someone has some advice. My car had a solid check engine light on, service esc message and a message also saying put car in park even though it was in park. I could not get the vehicle to shut off other than engine. The vehicle would start but never turn accessories off thinking it was in drive still. I needed up disconnecting battery and reconnecting it. The messages went away and car could then be driven again earlier it wouldn’t move. The car only goes 20 mph and solid check engine still. Any ideas, I can’t get it to shop at the moment.