The serial of this truck is 7FBEF20 15968

The problem we have is that we have had 2 similar Toyota trucks throw up these errors. We checked the brake switches (no brake pots). However in the case of 1 truck once you disconnect the battery and reconnect the fault clears, for hours or days in some cases. The other one also clears once the battery is disconnected and connected, however sometimes just clears if left standing.

Is there a problem that Toyota might be aware of? Or has anyone come across this issue? Any tips and suggestions would be appreciated.

Regards