Don’t need to hold brake pedal to do the reset.
The issue you are describing is a known bug right now with sentry mode in which upon turning on the vehicle, Sentry mode does not “release” the cameras so autopilot doesn’t function.
Turning off sentry mode and allowing Tesla to go to sleep (not just off, but asleep) will reset the issue.
As an aside, this is being heavily discussed in other threads so feel free to look around and search before posting.