I have the same problem. Saw the "Parking brake Needs Service" message and decided to remind myself to call Tesla on my way back to schedule an appointment. However, I must have gone barely a mile and saw several other warnings and the car stopped right in the middle of the road. Messages such as "Cruise Control Failed", etc started popping up. A suggestion to power cycle also flashed. Since I was in the middle of the road on the leftmost lane, I had my emergency flasher on. I followed instructions and turned the car off. The flasher sound (I believe its simulated relay sound) stopped - however I am not sure if the lights actually stopped flashing at that time. When the car restarted, the error remained. Another message flashed - something like "Exiting and re-entering the car may resolve the problem". I carefully exited in the middle of the road with cars zipping by and re-entered the car. It did not work. I called Tesla roadside service and they quickly got a tech support engr on the line. He asked me to power cycle it again. The car seemed to like that and decided to move when I switched to Drive. I went around to a nearby friends place and parked there. The original parking brake message popped again. I was sure I did not want to drive it another 15 miles to my home and called tech support again. This time they wanted to send a towing truck to get the car to a service center. The truck took 2 hours to arrive (it appears that Tesla is very selective about towing companies and we dont have a lot of them in the Sacramento area.). I drove with the tow truck driver and he told me that Tesla's are keeping them busy and they get a ton of towing jobs from them - especially Model 3!!! Keeping fingers crossed.
