Sounds kinda like the shift lock is engaged. Look for a hole to reset the lock pin usually it will be right next to the shifter, or under the console by the shifter. Check your owners manual, after finding the reset you should be able to press the brake pedal and shift back into park.
Changing the ATF will not make it impossible to use the shift lever. You should first check that the brake lamps are working, if not then check the fuse. The shift gate lock is actuated by a switch connected to the brake lamps system. Hope that helps
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