Just recently, I started getting the BRAKE light on my dash at the beginning of my drive on my 2011 Q5 3.2 Premium Plus with 72,000 miles.

When I accelerate with some oomph (not just nursing the car along), the light will come on, beep three times and then go off when I let off on the pedal. The brake fluid is full. The pads are in great shape and have tons of life left on them. When I press the SET button, I don't get any messages. The ABS light has never come on. I don't get any error codes when I run my scanner. And after I drive for approximately 15 minutes, the issue won't come back until I turn the car off and then back on.

Has anyone else experienced this? How did you resolve it?

Thanks so much!