That sure sounds like car being held at zero speed to long. It will keep drive energized until it sees brake switch dropped. If it was the brake micro/switch you should get a different fault. Could be a contact on a relay the brake switch controls. Lot of relays on there with contacts that do fail. Make sure the wired contacts go to zero ohms when pushed in with power off. If they don't go to zero change the relay and be sure to ohm the new one. I highly doubt it is an I/O being intermittent. There is a high to low voltage board below the CPU with lots of opto-isolators on it. Be sure to eliminate that also. Opto's will be intermittent before complete failure.
