i bought the 2016.5 new and never had the failure light come on untill I took it in for the recall. As soon as I left the dealer the light came on. I stopped, turned off the key and restarted. Light went off and came back on when I braked at the next intersection. Took it home bled the brakes. Pedal is not mushy but the problem still exists but occurs from time to time. The dealaer also re-bled the brakes and the problem would come back in a couple days.Today I decided to replace both sensors at the house. Once finished I took it done the road and tried some hard braking and everything was fine. As I was coasting in the driveway the light came on. I wasn't even braking. Now it comes on while cruising and resets by cycling the ignition. I will try to bleed again, but I like the feel of the pedal. Oh well...
Replace the magnetic pedal switch with a mechanical switch. If you are handy with tools and have a small piece of alum. you can make the bracket after you have gone to the auto parts store and for about $6 to buy a mechanical switch. slingmods has a mechanical replacement for a little more money. If adjusted correctly you will not have another problem.