Please Help Diagnose: Hybrid System Stopped, Braking Power Low, Pre-Collision System Malfunction,

Hello everyone, I'm currently seeking help on my 2019 Prius Prime XLE Plug-in. I was driving it as my daily until ~3-4 months ago with no issues ~ June or July last drove (Now October 2nd). Occasionally during the summer, I would drive the car short distances (Car Wash/Groceries/Misc), but not often.

It was not until another day (2 months ago) when I was going to wash my car that I heard clicking (or ticking like a bomb) and my car's life was dying. At the time I assumed it was an issue with my battery and had intended to replace it when I could. Before I bought a battery, I jumped the car and was able to briefly drive it, but was receiving warnings on the display advising I pull over to a safe area and park, and the car died again. After that, I decided it was best to jump the car one more time and take it home.

Yesterday, I finally replaced the 12V battery and the car turned on there were no issues with the car's interaction with the keyfob, A/C, and radio. Although that is true, the car (When the Ignition is on), gave me warnings "Hybrid System Malfunction visit your dealer", "Hybrid System Stopped Shift to P" (When attempting to change gears), "Braking Power Low Visit your Dealer", and "Pre-Collision System Malfunction Visit your Dealer".

Before visiting the dealer I thought it would be helpful to maybe reach out here and see if anyone could help diagnose my condition. Since I can't switch the gears to drive or reverse, I can't take it to the dealership without getting it towed, so this felt like a safe option for the time being.