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Hi, my name is Barry. Welcome to Just Answer. I would be happy to help you with your Explorer.
Let's start by checking the fuses to the cruise control system.
Fuse 40 15a in the battery junction box left side of the engine compartment.
Fuse 15 5a left side of dash.
Fuse 23 15a left side of dash.
When the cruise is turned on but not set does the cruise indicator light up on the instrument cluster?
Does the horn and other buttons on the steering wheel work currently?
There is a brake switch for the cruise control. It should be a redundant switch. You need to test that switch's operation. You will need a DVM. Connect it to each terminal and check for continuity the press the brake pedal and see what the dvm reads.
The brake switch is on the brake pedal assembly. Let me see if I can find a diagram for it.
This diagram shows the switch on the under hood part of the brake. It is in the top center of the diagram.
This diagram shows how to test it.