Yes, just leave the transmission in drive.
I don't believe there is a way for most DIY'ers to check that PO130 code, I'd recommend replacement, it had in effect been "checked" already via the DTC. You calling your engine control module a LIAR?
It's not that hard to replace for a mechanic, you may find it a challenge at home, best done on a hoist.
I've noticed these small cracks on the dash for the passengers side airbag as well, not even the pickiest owner has complained about it though. I assume it has something to do with the way the dash is put together to allow the airbag to burst out. I believe that airbag section is a seperate part so that if it would deploy (and the car is salvageable) the dash won't need to be replaced..