Yes, I had the exact same thing, that is how I know. It didn't rear it's ugly head until SCARR. When I went off road, extended height it was happening way more, immediately, then when it went into super extended mode, it sounded like to cats in a bag... squealing and screeching like belts slipping... Problem solved--- leaks in one or more air bags, replaced all 4 air struts, seeing as the rubber was the same age in all of them. Delphi is what I went with.
I kept them, and plan to tear them down and post pictures, probably not here seeing as there is a 20kb limit.
It started out really intermittent, and got gradually more frequently until I figured it out. The codes were coming back "Too many transitions" -- that's why I suggested reading the codes to see what it "thinks" is wrong.
The parking brake may or may not be related. Bodys's brake bible is what you need for that. For now I would pick one problem like the brakes and figure it out, then see where you are, but most likely you have two problems, just to keep you on your toes.
I hope this helps..