gear selector malfunctioned in 2015 Prius

Today on a frosty 8 degree morning I drove a few miles to do an errand close by and parked on a level spot at the location. When I started the Prius, it would not shift into drive or reverse. Sometimes it would shift into park or neutraI and kept getting messages that said "shift the car into park" etc... and there were other warning lights on. It also wouldn't turn off all the way and made a long beeping noise when I closed the door from the outside. I had to have it towed to my home. The tow person said he experienced the same thing as i did and that it wouldn't even go into neutral. At home, while on the tow truck I got it into neutral and then once off the truck the gear selector started working again and I was able to drive it forward. I live in a remote area with extreme cold in the winter and need my Prius to be reliable. Has this happened to anyone? Is it a sign of something more serious? I recently replaced the 12 volt battery.