430 Clk in limp mode

First problem when I turn key to start, car hesitates before starting. I shift into reverse no problem then shift to drive and shifts hard, go to drive and won’t shift out of low gear. Stop and won’t shift back up past N. Can take foot off of brake and put back on and then will shift up. Also no shift indicator showing in dash. When this first happened the BAS and ESP and Brake lights came on in dash. Unhooked battery they went out. OBDII codes are P0705 & P2067. Any ideas what happened? Would really appreciate any ideas on how to fix.