Hi Laura and welcome to 2CarPros.
The P0700 is a generic code indicating there is a dealer specific code stored in the system which will point you to the problem. However, if the indicator isn't showing park, chances are there is an issue with what is called the transmission range sensor. I suspect that the cable that moves it may have come off.
The part is located on the transmission. You will see a cable run to it and there is an electrical connector as well. See pictures 1 and 2 below.
I circled the areas that I need you to check. Note that the cable rides on a ball and they do wear and come loose.
Check this first and let me know what you find.
Joe
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Thursday, October 31st, 2019 AT 8:15 PM