Drive Start control malfunction

Hello, I have a 22 Tacoma with 36k miles. Recently while driving down the interstate my radio completely went blank and no longer cuts on and after coming back a week later from a trip my truck then starts showing the Drive-Start control malfunction as well as shifting very hard into drive and reverse unless pushing the brake all they to the floor. Also the colored light that shows what gear you are in went out and the “S” mode seems to no longer work. Any ideas would be great I have checked some fuses although there is not much information on this I’m not totally sure which fuses to check I have almost disconnected the battery which made the Drive-Start code disappear until I cut the truck off and then back on it came on again