Wheel alignment?
Is your steering wheel straight ahead when the vehicle is driving on a straight road? If not, the steering wheel sensor sends signals that says the 3 is turning, the yaw sensors say it is not; the computers get confused and go into safe mode - you are on the stops so to speak.
Do you have a NAV display? If so, turn on the 4 x 4 view and watch the action of the four wheels. One may show as hyperactive or the other extreme, dead. Either one would be a clue to where a wiring problem exists.
As for the most part, the wheel movement on the display is very subtle, find a curb to mount slowly, one wheel at a time. You should see movement of each wheel, one at a time, or not. If you get movement showing good at all four, then drive for a few days watching for anything odd. These problems are most often intermittent and that is what makes them so difficult.
And as above, replace the brake light switch. Even if it is OK, one day it will not be, hence you may as well do it now. The link below may help re the switch.
http://bit.ly/11MyYA6