The BCM will automatically be reset to whatever factory settings your truck came with whenever the dealer enables any code. If for some reason you can't get the truck back if you take it to the dealer to have the (Auto Park) recall done that would require them going into the BCM which should reset the truck. I'm not sure why going into the door module would cause the issues you are having. Just out if curiosity what OBD reader are you using? Also the CAN code you are getting says (Light On Not Requested) which means your check engine light should not be illuminated for that particular code. Do you have a regular OBD reader that you can plug in and see if it shows anything?
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Will they do the parking recall if my check engine light is on and I am under warranty still?
I am using the OBD MX bluetooth.
I do have my rough country quick cal that can pull codes. I will run out to my truck at lunch time and try that reader.