1. If you have a trailer lights socket, the suggestion that you ensure it is clean and dry is a good one IMO.
2. Your problems relating to warning faults and cruise control operation
might be related to the brake pedal position switch located at the top of the brake pedal mount. It has a single contact plunger with two internal circuits that between them actuate brake lights and send signals for things like cruise engage / disengage, allow moving the shifter out of Park, etc. via the BCM>PCM.
It may be that 'pumping' the pedal is jarring something related to that switch causing the intermittent behavior; the slight pedal motion associated with slowing down may not be moving the plunger far enough if the mounting is loose/ broken/ displaced, etc.
I'd inspect it's mounting security, plunger/physical damage, associated connector/wires, and check the switch itself for proper continuity based on plunger position (you'll need the WSM to guide that, we can't post the diagrams here).
I can't quickly find a PN / price but it may be relatively cheap at your local dealer.
3. if all of the above is in order, your BCM
might be suffering from 'computer confusion' causing erratic fault warning and cruise behavior. IF that's the case, disconnecting the negative battery cable at the ground post under the hood for ~20 minutes will allow the BCM logic to 'reset' and
might cure those issues.
Just thoughts for your consideration, good luck.
( pedal seems sponge the gets tight)
That would be a totally coincidental but likely unrelated situation (the Escape uses
no hydraulic switches to activate lights or cruise control) - that's the classic symptom of an air bubble or moisture in the hydraulics, thorough brake fluid flushing / bleeding would be my first suggestion, betting that's never been done.