R&D mode is basically a software setting. It can be enabled/disabled using the Linux or Mac OS X versions of the flasher utility.
Reflashing completely wipes all software on the device and replaces it with the original Nokia-supplied OS, it will fix any software problems.
Can't be done with Windows, use a Live CD - I myself use SlimCD which is based on DSL Linux. You can download the 100Mb SlimCD ISO from here. Download the flasher and firmware image to a UBS stick (in a directory called "nokia"), mount the USB stick in Linux and follow the flashing instructions.
To mount the USB in SlimCD, open a root shell (right click the desktop) then try the the following commands (not guaranteed to work, depends on your USB so try sda2 if sda1 doesn't work etc):
Code:
mkdir /tmp/usb
mount /dev/sda1 /tmp/usb
cd /tmp/usb/nokia