Stuck on drive mode?

It sounds like the wiring connector at the transmission got disconnected or bumped loose. Also, did you remove any ground wire while doing the job? It sounds like you may have gotten a defective starter motor, can I ask what brand it is? Here is the correct way to replace the start so we can be on the same page. We might want to do a CAN scan which can tell us any codes that are stored.

https://youtu.be/u-4syLc-ifQ

Check out the images (below).