Brake issue related to Drive Start control malfunction?

Hi everyone,
Sorry in advance for a long story/question.

I had recently been having problems with my 2020 Tacoma where the gear selector was stiff and occasionally not recognizing the vehicle was in drive. Drives fine but the D symbol on the shifter was not illuminated nor was the D not showing by the speedometer as usual. It’s happened in the past, especially during the winter. I’ve had luck lubricating the linkage before. It’s resolved the issue for the rest of the winter. This time it did throw the “drive Start control malfunction” message and also a check engine light. Both went away after lubricating the linkage. Thought I was good to go.

Went to move the truck into my garage and the shift was again stiff, indicators didn’t show I was in drive, seemed to be in gear ok though. I was about halfway into my garage with foot on the brake and idle speed only. Brake pedal went to the floor and I wasn’t quick enough to grab the e brake. Did more damage than you would think at 2mph.

my question is this. Is it possible that the Drive Start Control issue and the braking issue are related? Brakes have been fine to this point. When at the collision joint I asked their mechanic to see what he could find and he pointed to issues with rust on the rotors and spots where the pads had stuck.

 

My 2019 just threw the same message. Wondering if you were able to trouble shoot it/find the cause?

My situation seems almost identical with the shifter not responding to being in drive and being tough to move. Also my cruise control stopped working once the message popped up