Slip, ABS, RAS, VDC Off, ICC Lights all on today

This morning all of these lights popped up - Topped off brake fluid - still lights. Took M to local Advance Auto to read codes - pulled C1142 Pressure sensor, C1137 ICC error, and C1185 RAS error. Located TSB ITB09-007 on C1142 - started checking brake stop switch adjustments. Found Page BR-6 in service manual to adjust brake pedal switches - I found that the stop light and brake switches were both adjusted incorrectly and all I had to do was twist them out 45 deg then reposition them to create a 1-2mm gap between the pedal and the switch body. Unbelievably, this corrected all of the error lights. Apparently, the brake and stop switches measure brake pedal travel and weren't sensing adequate brake fluid pressure based on measured pedal travel. Hopefully this helps someone - only thing it cost me was some frustration and a head rush from spending a few minutes head down under the dash.
 
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