I don't think it's an ABS safety 'feature'. Sound like 2 or more unrelated problems.

There should be a 2-pin connector over at the right kick-panel, it's a blue plastic plug. Jumper that to check codes. If it's never been used it might still be taped up to the harness. In my Integra it was in a green rubber holder.

Helm manual (www.helminc.com) is way better than Chilton.

Shifter stuck in Park might be the brake interlock. Do your brakelamps (in back) work? If not, check the switch on the brake pedal. That releases the shift lever (in addition to controlling the brake lights).