Last night after arriving home I had turned off my hybrid crosstrek (2014) and it kept making a continuous high pitched alarm sound, and we could not figure out what it meant. After pushing every button and starting and restarting the car we finally realized that the gear shift was not 100% pushed into park, it was off by maybe a centimeter. Once I pushed it all the way up, the alarm stopped and everything seemed fine. Now this AM when I started the car, the check engine light and the hill assist button came on. (and stayed on) Looking at the manual I saw that by starting the car and pushing the vehicle dynamics control switch off then on that should reactivate the hill start assist, but the warning lights are staying on. I'm assuming these 2 events are related. Yeah, I could take the car into the dealer, but it is such a pain to do that. Any insight for an easy fix or what these lights may mean?