Thanks for the replies, I really appreciate it. After sitting around for 30 min waiting for a new tow truck that would possibly lift the car without it going into N, I decided to try to start the car back up. The car started just fine, clean dash, transmission malfunction warning gone, annnnd the transmission went into gear! I was able to put it in N, R, and D. I drove it around the parking lot for a little to see if everything held up ok. Battery voltage stayed steady between 13.4 and 14.2V. After driving around and playing with the shifter for 5 min I decided to cancel to tow truck and just drove it home with my fiancée and jumper cables following
I drove it about 10 miles back home and everything was fine - like nothing had even happened. Voltage was steady, transmission was fine, no codes. I'm going to look into replacing the alternator and battery. Just glad the car is back home and nothing seemed to crap out mechanically.