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No need for a dealer yet, just a qualified independent mechanic.
P0700 means you've got a junk OBDII reader that can't read transmission codes. The transmission throws it's own DTC and asks the engine to throw a P0700 to light the MIL and tell people "go look at codes in the transmission".
Cheap generic OBDII readers will typically only look up engine codes. You need a scan tool with a bit more capibility. That being said, it doesn't look like your rear end is locked up, as the diff is dumb and mechanical, there's nothing in it that would cause a DTC in the transmission control system. What's going wrong is likely inside the transmission.
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