2017 trd OR brake override malfunction (no limp mode)

Hey all, I tried to use the search function but nobody else seems to have the same symptoms that I am having. When I drive for 5-10 minutes I get a beep and the brake override malfunction see dealer comes up on the dash. The truck keeps driving just like normal and if I restart it it clears the issue right away. I have stock brake lights, I do not have a pedal commander, all fuses are good. The truck is stock aside from a lift, tires, and sound system upgrades that are many years old now. it’s a very intermittent problem that goes away on restart. I don’t really want to take it to the dealer if I don’t have to, anyone have this issue before? Any tips or other things to check? The main difference between my problem and most other threads is that my truck drives just fine with the error on the screen. No limp mode. Any help is appreciated!