Truck won't start-(solution)

(2016 TRD sport 2wd). Today when I stopped on the side of the road I turned off my engine with the shifter in gear (reverse) so that accessory would stay on. my truck was facing down hill with a slight slope downwards. I took my foot off the brake pedal before I put it in park and the truck slowly rolled forward a little before I put my foot back on the brake and moved the shifter from reverse position to park. Then when I went to start it the brake pedal felt hard and and starter wouldn't turn on to start engine and "check brake system" appeared on my info screen all other accessories were working fine and all brake lights were working. I disconnected the battery a couple of times to try to clear error. A co worker told me my E- brake was probably "locked up". And told me that we needed to move truck backwards to get it to unlock. So we hooked up a tow strap and he pulled my truck backwards while I had the shifter in neutral position ignition was in on position. (I had to pop off the tiny cover that is in front of the shifter push the release inside to get it to do this). Then after moving backwards for about 15ft or so I stopped put in park then it started right up. If I was on flat ground I could have possibly rolled it backwards myself.
Just thought I should share this info because I had this happen once before and when I couldn't get it started I had it taken to the dealership on a flatbed but when the mechanic jumped in it started right up.
And now I figure that this was because I had rolled the truck backwards off the flatbed with shifter in neutral position with ignition on.

 

Sounds like your brake interlock solenoid is hanging up when you’re doing your accessory mode cheat code.