Code says that there is an open in the o2 circuit. O2 is located in the exhaust system just past the exhaust manifold. This should not cause a problem with forward or reverse travel though. I would check the seat switch first for the drive problem. Mainly if your hyds. do not work also. Some of the codes on a nissan need to be erased and then have the batt. disconnected for a short time. You will lose the learns once you disconnect the batt. Accel position, throttle position, and idle air learn.