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Brake pedal sensor

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On my Roadster 2.5 I'm getting a "Vehicle Alert #1095: DMC FW: Press brake before shifting warning".

I have to press the pedal really hard several times before it will let me shift anything.
After it's active I can shift from drive to park or reverse without issues.

And YES I'm pressing the pedal while pressing the D button.

Even scarier, when using Cruise Control, if I press the brake, it does not alway disengage the CC.
So I usually disengage CC manually. But sometimes I forget...

Where is the pedal sensor, and does it need cleaning or replacement?
 
Can it be the brake light switch?
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