I'm having my brake light come on while driving. ESC will not work until I tap on the brakes and then hit the cruise. I change the brake pedal sensor and still no luck! But sometimes at night when this happens I can flash my high beams and the brake lights go off and the cruise works.

 

I would suggest finding some place that can read all the codes including chassis codes. I had the right brake/tail bulb burn out the other day and replaced it. There was a stored code, did not write it down but the car's computer stored the info. When I did a clear codes with my AutoEnginuity software it went away.