Exact same thing happened to me yesterday. I'm in Canada.
I was on my way home, and the exact same error message popped up. I didn't want to take any chance, so I drove directly to the nearby Nissan dealership. The service manager looked at the car, and he couldn't do anything to switch it from "P" to "D" or "R" mode. Then the EV mechanic came out, and he had to manually clear the code/error message via the ODBII, and then it would allow him to switch to "D", so at least we didn't need to tow or push the car
. He then drove the car into the service bay, and as soon as he turned off the car and restarted it, the same error message popped up on the dash again, and it wouldn't go to "D" or "R".
My car is a 2018 SL. I don't remember the manufacturing date, but I picked up the car at the end of August 2018. After reading all the posts here, I'm pretty sure I have the same bad cells issue on the battery. I'm waiting to see what Nissan says.
The car survived the cold Canadian winter, and I had zero issue with the car.... until this thing happened. I was very happy with my Leaf, and I was recommending Leaf to everyone I know. I'm not sure if I would do it again because this battery issue is a big and expensive repair, and I can't imagine when the car is out of warranty and I have to pay thousands of dollars to repair the bad/defective battery