The P1870 code means your transmission is slipping, that's what the grinding noise was more than likely. Have you ever had your transmission fluid drained and refilled?
The light that comes on near your oil gauge is most likely your oil light telling you to check your oil....when's the last time you had it changed?
Not sure about the parking lights you are talking about. If it is your remote, you can probably change the battery yourself. Typically there is a few screws holding the back on. Unscrew those, take out the battery and see what number is on it. You can get a new one anywhere they sell watch batteries. I would say they might change it for you, however, I worked in a jewelry store before and we wouldn't because of the liability involved. It's better if you do it.