Transmission not in park

Malfunctioning park sensor.

My car died while I was driving it, would not restart and has the same message. Gets power to the lights, radio etc but windows won't go up, won't start, battery replaced and still nothing. Was stuck in drive so suspected tcm but dealership says that's not it, but they don't know what IS wrong so they want $500 to continue attempting to diagnose the problem. Can't get a loaner because without knowing what's wrong with it they don't know if it's covered under one of the 2 warranties on the vehicle so I have been stuck with no car and no diagnosis, repairs or answers for over a month. Oh, and just a month before this they were supposed to have repaired the clutch shudder issue, yet it was happening a few days after I got it back.