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After shifting to reverse and I turn the car off but it keeps telling me to shift to reverse - it already is in reverse but I take it out of gear and then put it back in again. Most of the time it turns off but today it didn't and then it killed the battery. What is going on?
Obviously, it seems like it's not getting the signal the transmission is actually in reverse and accordingly, not completing its shutdown routine (hence draining your battery). Take it to the dealership. It's probably just a faulty sensor or something...hopefully something simple.
If you re-charge or replace your battery, I'd disconnect the battery when you're not using the car until you fix the problem...no point draining and/or ruining the battery a second time. You will have to re-index your windows after re-connecting the battery.