Scan for codes. If there is a "BTS implausible" code, then the brake switch has started to die.
There is also a clutch switch in the cruise system but it does not give too many problems.
you will need to press the brake pedal down to gain enough room to move the red collar fully forward, then the tabs on the switch are able to be pressed in to remove the switch.
I used a length of wood between the pedal and the front of the seat, then moved the seat forward to press the pedal down whilst I removed the switch.