2010 Prius EC P0A4A, P07E8, and more. Help Diagnose

I got a 2010 Base Prius and have had a rough couple of months with it. Now it turns on, but won't move.

Around 8 months ago I had Engine Codes P0420 and P0403. It idled pretty rough, but not too bad. I cleaned up and got the EGR Cooler looking brand new. I did not clean the EGR Pipe or the Intake Manifold as I've now seen in some recent videos.

Definitely helped and had the car running well a few weeks, but then I had some rough and loud idles, this time it sounded like a helicopter.

Took it to a shop and got the Exhaust Manifold Gasket and Catalytic-Manifold Donut Gasket replaced. Seemed to do the job, but they found a chunk of my Catalyst broken off inside.

Had the car running well for a few more weeks when I started getting some rough idles again, but it didn't sound like an exhaust leak this time. This happened after some really rainy days. Had the Check Engine Light on so I scanned and pulled many codes (cheap Walmart scanner):
P0300, P0301, P0302
P0101, P0171
P0A4A, and P07E8 (NOT $7E8)

I cleared them thinking it could've been a short circuit considering the heavy rain, but the last four codes remained. Took it back to the shop, and they found a hole on the Intake Manifold on the runner for cylinder 2 in it's EGR passage. Looks like it had burned/melted through. That explained the P01XX codes.

They told me to bring it back when the new manifold came in, but on the way home I barely topped of at 25MPH when it stopped accelerating. No engine sound, no eCVT sound, just coasting, so I pull to the side of the road.

Check Hybrid System warning came on, and the car would no longer enter any gears (D,R, or B) except for Neutral. Turned it on and off a couple times, but to no avail. Had the car towed home and the P07E8 and P0A4A codes were there.

Only information I could find was for P0A4A which mentioned a position sensor for Motor B
repairpal com/obd-ii-code-p0a4a-drive-motor-b-position-sensor-circuit-overspeed

I also saw a few videos showing how to "Reset/Clear" the CHS warning by disconnecting the Auxiliary Battery and a White Cable in the Engine Bay Fuse Box for about 10 minutes. Will try tomorrow, but unsure if it will really resolve anything.

Please Help. I know its a long read, but I'm trying to be clear as can be.