02 rubicon problems wont move

so i have a 2002 rubicon 500. the motor runs and no parts are missing. the dash flashes -- where the gear selection should show up. D1 D2 ESP also flash (not a code flash). the atv wont move at all except for pushing in neutral. i started by trying to retieve codes which i think i got a code 5, then tried re intializing everything and it goes right back to the flashing. i removed the angle sensor and followed others steps on checking the resistance and it works, goes up to 2.11 k ohms and down to like .2 k ohms. i removed the shift motor and cleaned it, it spins with 12 volts but cant get the atv to send power to it. also with the shift motor out i turned the gear that moves the swash plate and noticed that the flat shaft that turns the angle sensor never moved, turned the gear atleast 4 roatations and doesnt move the angle sensor shaft at all.
im not sure if i should keep hoping for a sensor problem that i will find some day or i should tear that hondamatic out and check things for obvious problems internaly.