Service Trailer System code

[TGoedde]

We bought what appeared to be a very nice well maintained 2013 Ram 1500. Drove it for one day and now have several codes showing up. No noticeable driving issues other than the cruise control won't work because of one of the codes. Seems like the brake switch might be the issue as I noticed when I was following my wife driving it, the brake lights stick on. Then goes back to normal, then stuck on again.
Here are the codes I get from from code reader:

----Confirmed Trouble Codes Scan Report
----2 Confirmed Trouble Codes Trouble Codes:

1. P0572Brake Switch "A" Circuit Low

2. P0058HO2S Heater Control Circuit High Bank 2 Sensor 2

----Pending Trouble Codes Scan Report
----1 Pending Trouble Codes Trouble Codes:
1. P0572Brake Switch "A" Circuit Low

----Front Control Module (Central Gateway) Codes Scan Report
----1 Front Control Module (Central Gateway) Trouble Codes:1. B221D-00(RSM) Rain Sensor Module Internal: No Sub Type Information

1 Anti Lock Brakes Trouble Codes:1. C0042-2A
Brake Pedal Position Sensor "Circuit A": Signal Stuck In Range

---Powertrain Control Module Codes Scan Report----3 Powertrain Control Module Trouble Codes:
1. P0058HO2S Heater Control Circuit High Bank 2 Sensor 2

2. P1C4E ABS DTC Present

3. P0572 Brake Switch "A" Circuit Low

I am going to be towing a camp trailer in a week and need to get this stuff figured out asap.

THANKS ALL!