2007 Toyota Prius Won’t Start: No Power, Stuck in Neutral

Vehicle: 2007 Toyota Prius
Body: Hatching
Mileage: 258,000 miles (bought at 253,000 miles)

Problem Description:
While driving, my Prius felt like it was facing a huge resistance force. When I pressed the accelerator, there was no power pushing the car forward or into reverse. I got the car pushed out onto a parking lot, and now it doesn’t move at all. I can’t shift the gear into drive or reverse; it only stays in neutral. Park still works, but I’m not sure what happened to the car or why it’s doing this.

Additional Information:

• I haven’t done an oil change since I bought the car but have added oil as needed.
• My dad thinks the lack of an oil change within 3,000 miles might have caused the motor to die.
• I watched a YouTube video titled " How to fix a Toyota Prius that won’t start or go into drive or park." by C&S Automotive, that seemed similar to my issue, but it didn’t show if the car was drivable after charging the 12V battery.
• I’m considering charging the 12V battery to see if it will get the car going again.
• Is it safe to charge the 12V battery using my dad’s eleventh-generation Toyota Corolla? I’m worried about potential differences between the batteries in a hybrid and a gasoline car.
• Can't I just wait a couple of minutes for 12V battery to charge instead of requiring a scan tool?
• I don’t have a scan tool reader and don’t know which one to purchase or where to get it from.
• Does a scan tool help read the life of the 12V battery, or do I need something else for that?

Any advice or suggestions would be greatly appreciated!