2006 nissan titan u100 code after cleaning battery terminals ?

Question

clean battery terminals, then the code showed engine will start and run but I have no gear indicator nor will the car go forward, if you hit the cruise control it just flashes.
took it to the dealer they just cleared the code and sais it was good, I was able to drive home with no problem, but when I went to start it in the morning the code was back just like before.