Today while driving the BAS/ARS warning indicator came on. When restarting the car the light would be off and after driving for a min or two the light would come back on. Twice I turned the car off, and restarted holding the brake down for a minute or so. Once I disengaged the brake the light did not come on until I drove the car. I waited a couple hours and tried this approach again, after a minute I disengaged the brake the light didn't immediately turn on but it came on before I had to drive the car. After the BAS/ARS light came on I engaged the brakes and all the brake lights are working fine.

I checked the brake fluid and it looks good. I will be checking the battery voltage tomorrow.

I have read the brake light switch, above the brake pedal, replacement is the recommended fix.

Does anyone have any experience with this issue.