The speed control works fine so I don't think its pedal related. Its something with the parking brake not main brake. I pulled the plugs near the parking brake which I assume one must be the switch but that did nothing. So probably just need to replace it. There is one other one that looks really difficult to reach I'd like to get to.

 

The dealer replaced my brake pedal switch for $115. I would assume the parking brake switch would be the same.