Mostly normal service resumed
When I fitted the replacement brake switch I got it in the perfectly wrong position (yes, there is such a thing!). It has two contacts - one normally open (for the brake lights), and one normally closed (for the ECUs). The ECUs expect to see both contacts change together so they know the switch is working. I'd managed to get it in just the wrong position so the normally open was open, but just enough pressure on it for the normally closed to also be open! The ECUs knew something was up so all got in a grump

Wound the switch in another half turn and everything is fine now - no codes, and enough oomph from stationary to wake up the ESP

I wish I'd figured this out before towing the FE home

Steamship - that could well be your issue too?
Curiously the cruise control still isn't working, despite the ECU seeing all the switch contacts operating, which is odd. Need to do a bit more digging on that.
No brake switch error code on power-up either, so that must be a PF thing