@62Blazer I appreciate the praise for my detail. Personally, when I wrote up the first post I wrote it up how I wish I could have found it somewhere on the internet. I love tinkering with things including vehicles but when working on my own I get frustrated because I need my truck to get to work and back.
I also agree with your point though and still don't understand how right after changing the battery suddenly the transmission fluid was a problem. I will say it's been about 2 weeks now since the work on my truck has been done and I've had zero issues. I also find it strange that I was able to run ATF+4 and 1qt short oil in my transmission for 18 months with also zero issues. I never noticed any hard shifting or loss of power. I still believe that the issue was something electrical and when I brought it in they also noticed the oil so they reset some sensors and also charged me for the oil. Either way, I like doing things right and I had no issues shelling out the money for the expensive Mopar tears they call "ZF Fluid".
For anyone having the error "Shift to P then Desired Gear" I guess I would start with the transmission fluid. Do you have enough and is it the right fluid? Worked for me.