Great vehicle for security patrols! I'll ditto Joe about whether disabling any modes would be worthwhile, but on the Shift Position Switch (which is located on the transaxle itself, controlled by a cable from the shifter, which seems a holdover from the ICE version of the car), the terminal number for D is 4-5 and for B is 4-6. (from page 22A-5 of the Helm manual) Disconnecting any of those electrical connections is likely to have unintended consequences, like throwing trouble codes that might even prevent operation of the vehicle.
It would seem easier to add a mechanical gate on the shifter or a stop block back at the transaxle end of the shifter cable to lock out B Mode if you want to keep the operators from engaging in 'hot pursuit'. :lol: