Major brake system issues, but brakes work fine???

Background....
Changed rotors, pads, and tail lights about 2 years ago.
I have never had the brakes not function properly ever. No soft petal, no pulsing brakes, nothing. They work fine.
About a year ago, every month or so the traction control light would come on for no reason and then the light would go back off.
About 6 months ago I started having issues with the steering column shifter lock not disengaging every few days. (Which pressing the brake is one of the permissives)
ABS light started coming on with the traction control light about a month ago.
Brake lights started not working in the last few days.
Now....Brakes still function perfectly as of today, but both ABS and TC lights come on and shifter sticks about 90% of the time now....
All fuses good, no OBD2 codes.

So to start I thought...wheel speed sensor...but now maybe brake control unit?
Thoughts?

Thanks team!
A

 

I believe the brake lights must work, to allow the brake switch to do its thing to allow the shifter to come out of park.
My thoughts are:
1) Ohm out the brake bulbs to make sure they are ok. And then make darn sure they are the correct bulbs(numbers from the owners manual) no crossover numbers then:
2) Check Brake safety switch at brake pedal make sure it is not sticking and or replace it/and or take it apart if you can and clean it. This switch does 2 things, turns on brake lights and allows you to shift out of park. I am pretty sure that if the brake lights don't come (which is a function of the switch) this will keep things from working right.