2001 Prius

2001 Prius won't stay in park, steering wheel won't lock and key won't come out

I had a weak battery so I put a charge on it like I've done before. Now the car thinks it's in drive and the shifter won't lock in park and the key won't come out. I replaced the battery hoping all these problems were related but no luck. The key came out once I disconnected the negative battery terminal, but once you reconnect battery the same problems exist. The car starts and drives fine. Any idea what is wrong or where I should start to trouble shoot?