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If the battery is dead then the shift lock should be disabled and you can just shift into neutral. Pg 2-36 of the manual:
Shifting Out of PARK (P)
This vehicle is equipped with an electronic shift lock
release system. The shift lock release is designed to:
Prevent shifting out of PARK (P) unless the vehicle
is running or in Accessory mode and the regular brake
pedal is applied. The shift lock release is always functional except in the
case of an uncharged or low voltage (less than 9 volt)
battery.