Hoping someone can help me. My SRT will not start, has 33K miles. I have owned it for 10 years, first time it has failed. The sequence of events:

-Old battery died, recharged it.
-Drove car, noticed soft brake pedal.
-BAS/ESP light came on.
-Did the turn steering wheel all the way to left/right, light still on.
-Couple days later, tried to start the car, started, wasn't running right, turned the key off within a couple seconda, it would not restart.
-Tried to start it again and will not turn over, just clicks and the lights on the dash flutter.
-Key fob won't work to open/lock doors.
-Replaced car battery with new one, kept new battery on battery tender.
-Put new batteries in key fob.
-Got key fob to work by pressing twice and turning key to on position.
-Tried to start the car, will not start, no change from before.
-Replaced RCM, no change
-Replaced camshaft sensor, no change
-Disconnected the battery, both + and -, turned key to on for 30 minutes, no change
-Bought an icarsoft scanner, after clearing the codes, the codes that keep coming back include:
P2300 under the transmission section
B1040
P1174
P1175
-Also noticed that with the key turned on, I cannot get the transmission out of park

Plan to change the crankshaft sensor this weekend. Could it be the brake switch?

I am not knowledgeable on electronics, so I have been trying things that I have read on other threads, any help is appreciated.