Operational triggers that activate anti-theft mode/no crank no start?

Thank you so much. I went back yesterday and was able to make that red security light go away I guess by manually using key to unlock the door and then put key in ignition to the on position for a few min. Still won't crank. Tried jumping it off but nothing. Then I looked at the digital display screen is indicating that it is in reverse but clearly it is in park. It won't let me move the shifter even with my foot on the brake (which still feels tightened). I bought the car in October and I've always noticed the shifter has a slightly looser feel to it when changing gears than other cars I've had. It doesn't have a strong feel to it it's like when I go from park to drive it will go in neutral and I have to wiggle it around to get it in the drive position or vice versa. So this makes sense that is what made the engine lock up. I guess I cut the engine off too soon before making sure I had wiggled the shifter right and made a good fit connecting into the park position where it can trigger the digital display on dash to indicate it's in park. It's in park now but not enough to reflect that on the digital screen. I thought for sure I would be driving it home but I feel like a curve ball just got chucked at me. Now I guess I'll have it towed to my house but will the tow person be able to get it on the truck bc I've tried and I can't get the shifter to move even with foot on brake. I don't think it's a problem with the transmission itself but more with the linkage. I just don't know what else it could be and I don't know what to do because I don't have the money for a costly repair right now. Do you think I'm right about the linkage and is it something that can easily be fixed fairly inexpensively? What should I do next?

Hi, I went back tonight and thankfully the law had not towed the car. The info you gave me was great, I really appreciate it. My 200 doesn't have an obvious button to release the gear shift so I looked up a YouTube video and found that I had to pop the whole plastic piece off and then find the lever thing and push it to release the shifter and it worked! I was so worried I would have to have it towed and then pay so much to have it fixed. I know I still have a semi loose linkage which I will look into fixing shortly but for now I'm on the road and I owe a lot of it to you for making it make sense and leading me in the right direction. Thank you so, so, much because I know next to nothing about cars but now I feel like I could be a mechanic! I hope you had a great Christmas as well!