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Okay, so the fix to my Cruise Control, Brake lights, and ESC light illuminating after driving highway speeds, was simply replacing the Left and Right brake light bulbs themselves! After replacing these bulbs, not only did the brake lights work again, but my Cruise Control was fixed and working fine, and the ESC (Electronic Stability Control) Light never came back on after driving highway speeds!!!!! I did end up replacing the brake lamp switch, but I believe that I didn't need to, and it was overkill. Replacing the brake bulbs probably would have fixed the original issues to begin with! I hope this helps the next person with these same issues, before they spend hundreds of dollars at a Kia Auto Shop, when it only cost me $6.00 for (2) brake light bulbs which fixed everthing!