Hi Nicholas,
I had the same issue stared on the 5th June 2021 and it was fixed on the 9th June 2021. The car has been driven for approx. 100 miles during this time. Based on this thread, I would suggest to get it fixed as soon as possible. To get it fixed, you will need to replace the brake servo sensor 5Q 0906207B. Here is a video I made to how to replace it:
For more information, please refer to Page 9 of this thread. I hope it helps.
Ambrose