I have a an audi a6 2.7 TDI 2007. It came up with an esp error but when it was tested it came up with a brake switch error. This was replaced which cleared the fault. But after driving for about a mile and after I had stopped the esp,and and electronic parking brake lights came on. Another switch was replaced but still the same issue. I have noticed the cruise control will not disengage when the brake is pushed. The test just comes back saying faulty brake pedal switch which as I said 2 have been repalced.