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Hi,
I was waiting at a light with the brake hold system on, as usual. I went to accelerate and this error popped up. I am so used to that emergency brake thing going of after long stops that I figured it was that and then tried to disengage the parking brake. But then the red parking brake light came on and I realized it hadn't engaged in the first place. This was an unfamiliar error. Finally, I put my foot on the brake and that must have freed me. I drove a little bit down the street and pulled over and put the brake hold on again and then tried to pull away and the the same error popped up with an error ding sound like the first time. I pushed the brake down and then up and the error went away. I drove off and also took off the brake hold off.
I did my errand. I got back in the car and turned it on and drove away and decided to try the brake hold again by pulling over and stopping. It worked fine that time. I continued driving on.
One thing I did notice before it happened the first time is that when I came to a stop, the car stopped and then lightly jolted forward maybe just a foot. This has happened before. It feels like someone bumped my car from behind, very lightly.
If you get an OBD2 scan with Techstream hooked up, it'll show you the fault and component. In the meantime leave extra room if you stop behind another car!
I have a 2007 LS460 and this happens to me a couple times per year. I have to put the car in park, shut it off, then turn it back on to clear the error and release the brakes. Then it will work fine for several more months. Freaked me out the first time, but now I can recover pretty quickly.