OK, I'm one of the ones who has experienced this real issue, never for 15 months, then 3 times in last month, see prior posts. Just back from SC to try to diagnose.
My theory going in: spongy brakes cause excess brake travel, increasing possibility of accelerator contact while braking. Need hydraulic flush/refresh so that brake pedal travel to achieve braking goes back to normal range. SC diagnosis of hydraulic system: no problems, fluid fine.
SC's theory: Due to regen, MS brakes don't get much of a workout. They can get "glazed" with only light use - meaning a layer of dust/debris accumulates that reduces braking effectiveness. Therefore, you can mash the "glazed" brakes and get far less response than you expect, and also get your foot in accelerator territory. Prescription: Once every week or so, turn regen on low, and give the brakes a hard workout. This actually ought to be good for both the hydraulic system and any possible "glaze" accumulation.
To me, this intuitively makes some sense, so I'm going to try to remember to do it.
As a footnote, I really cannot recall - in the 3 instances where my braking was insufficient - whether I actually did have foot on both brake and accel. It is possible that it was just brake and brake was just underperforming, which this new theory could also explain.
At any rate, for those of you who experience this, you now have some plausible explanations and prescriptions. For those of you who haven't, please heed the suggestion to give the brakes an occasional workout so they're there when you need them.