Tl;dr: Had the same error today which led to the car being stuck in park. I was not able to shift to drive or reverse . Reboot and power off did not help. Tesla roadside assistance said they have to get me towed.
Solution : Shift to neutral and then try drive. It let me drive with the error message . Will have to take it to the service station first thing tomorrow.. all this went down on a sunday so didnt have a chance to take it to service.
Got a MY LR less than 10 days ago. Today I started getting an error message while driving that said Parking brake functions degraded and vehicle hold disabled. I ignored the message the first couple of instances. Autopilot was no longer available and that was the next warning which said , autopilot not available. I pulled into the next rest area and put it on park. Once I put it on park, I was no longer able move it to drive or reverse. Tried rebooting the car with hard reset, 2 min long press on steering controls but it didnt work. Called Tesla roadside assistance, which took longer than 30 min, after a min the call got disconnected and the rep never called back. After another 30 min wait I could get to the tesla rep who said all she could do was get me towed to a service station in Springfield NJ ( I live in Brooklyn, NY). Their reason was that on a sunday the brooklyn service center is shut and the car cant be left out there. I have had the car for less than 2 weeks and hate tesla service . I really hope no one ever have to deal with them ever again. Given I was stuck in park I was not sure if I could get the car on to a flatbed truck, I tried to shift to neutral and that worked. From neutral it allowed me to shift to drive. Finally drove home slowly and parked. Now waiting for the service center to open tomorrow to have this checke .