I was having this same issue since the weekend. I discovered the "Car mode" the other night, though alright that's cool, then shut it down. The following day I kept getting the error that you're experiencing. Also, whenever someone would call me it would always redirect the call through the Car mode even when it wasn't enabled. Wicked annoying. SO... Solutions, let's get to this:
Obvious ones that you've probably already done:
1. Reset via "Reset" power down option - didn't work for me
2. Reset via "Turn Off" power option, then turn phone on - didn't work for me
3. Once I did the "Turn Off" and turn on option I went into my settings and found the car mode was not turned on, I turned it on and car mode loaded, then I turned it off. That seemed to work.
If that doesn't work I contacted Samsung directly through their live chat and told the person everything I had done, after about 10 minutes of them telling me it could be one of the downloaded 3rd party apps (bull****) they gave me this solution:
Main screen>>Apps>>Settings>>Application>>Application Manager>>Swipe the screen from right to left till you see ALL option>>Scroll down for Car Mode option>>Tap on it>>Tap on clear cache, clear data and Force stop.
Hopefully that works for you.