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Hello, my name is Bobby. Thank you for the question. If the lights are not coming on then it may just be the brake switch. It may be disconnected or it may have failed. Many times after installing new brakes if the pad sensors are not installed securely then this will occur. I would check the connection on the brake pedal first. Let me know if you need more help.
It seems more complex. For instance, it seems to happen when backing into a parking space, then the warning light comes on. Restart the car, no more warning light and the brake lights work again.
If it were a failed switch, they would not come back on, unless failing in some limited way.
I worry about the ESP module. Could be a brake sensor I suppose also. We shall see.
How intermittent is it? Can you always get the vehicle out of park fine?
Yes it shifts without any problem. So far anyway. Usually if I am shifting out of park, I have just started the car, and the warning light is not on.
Then I do not think it is the switch. It sounds more like the brake control module. I would start by having the brake pad sensors checked. You may want to have the shop that did the brakes check these. I think you might have a module issue starting though.