Need some guidance with troubleshooting!

'13 pre runner TRD-OR DC 1gr-fe

Hi everyone, so I'm hoping I can get some help. I'm either looking for advice or a link to a thread about this issue.

My ABS and Stability control light internmently come on (turns off quickly if i start driving sometimes but never stays on more than a few minutes) . Also my gear shift won't shift out of park sometimes. I'm not sure if it is connected, but sometimes when I pump the breaks it will release the gear shifter and allow me to shift it.
After reading here and there, I read that it could be a brake position sensor causing the issue.

Anyway thanks for your help in advanced. I'm hoping I can get this fixed!

 

Have you checked what code(s) you have in the ABS?

Brake switch is easy to check.

Pin 1 (Blue) should have power with the brake pedal depressed and none with it released.
Pin 2 (Green/White) should have power at all times.
Pin 3 (Violet/White) should have power with the key on and the brake pedal released and no power with the brake pedal depressed.
Pin 4 (Beige) should have power with the key on.

Of course these checks need to be made when the truck is broken or everything will likely test good.