Its a 2006 HSE. There is a plug directly under the battery that looked like it got something when this problem first occurred but when disconnecting the terminals are very clean.
The handbrake doesn't beep until after I have put the gbox into P, but what you are saying about the Low Range makes sense as well.
Does anybody know what the plug is that sits under the battery and just in front of the transfer case module? It has one of those grey bits that you have to pull out to disconnect and push in to connect.
I have heard that there is a transmission module, where is that one?

