My Toyota Prius 2005 won’t go into drive or park and hybrid battery not charging and keeps draining

Not sure which OBD2 code reader you're using. You'll need a device that not only reads DTCs, but also INFs (aka subcodes).

Here is the workup for P0A4B, P0A4C and P0A4D :

https://share.qclt.com/%E4%B8%B0%E7%94%B0%E6%99%AE%E7%91%9E%E6%96%AF%E5%8E%9F%E5%8E%82%E8%8B%B1%E6%96%87%E6%89%8B%E5%86%8CPDF%E6%A0%BC%E5%BC%8F/Prius%20Service%20Manuals%202004/%E4%BF%AE%E7%90%86%E6%89%8B%E5%86%8C/04pruisr/05/21bpm/0a4b253.pdf

Here is the workup for P0A09/265 and P0A10/263 :

https://share.qclt.com/%E4%B8%B0%E7%94%B0%E6%99%AE%E7%91%9E%E6%96%AF%E5%8E%9F%E5%8E%82%E8%8B%B1%E6%96%87%E6%89%8B%E5%86%8CPDF%E6%A0%BC%E5%BC%8F/Prius%20Service%20Manuals%202004/%E4%BF%AE%E7%90%86%E6%89%8B%E5%86%8C/04pruisr/05/21bpm/0a09265.pdf

Here is the workup for P0A09/591 and P0A10/592 :

https://share.qclt.com/%E4%B8%B0%E7%94%B0%E6%99%AE%E7%91%9E%E6%96%AF%E5%8E%9F%E5%8E%82%E8%8B%B1%E6%96%87%E6%89%8B%E5%86%8CPDF%E6%A0%BC%E5%BC%8F/Prius%20Service%20Manuals%202004/%E4%BF%AE%E7%90%86%E6%89%8B%E5%86%8C/04pruisr/05/21bpm/0a09591.pdf

Here are some videos showing the orange safety disconnect :p0a0d prius at DuckDuckGo

And if the orange plug doesn't offer relief, this post should : Another Prius Down | PriusChat

Also try sending a PM to @Dxta and see if they ever found an answer, as he had posted something similar not all that long ago : Sudden power loss on a Prius 05 | PriusChat