After adjusting the shifter switch, I'm able to get 'B' driving mode back. Man I really missed that.
I still get the check engine light whenever I start the car while in Park. RBS and Turtle mode are now gone. I've found that if I turn the car to start and immediately shift out of Park (before the system initializes and beeps), I do not get the check engine light. It will return if I shift back to Park.
I'm hoping this is just a left over warning from a weak 12volt battery. I did replace it, and had the new one checked to make sure it was good.
I just got the latest recall notice, so I'll take it in to have that done and hope they clear the warning without charging for that.