97 4runner Brake Warning Light, Engine Problems when Brake Light Comes On Options

[4runnercos]

My 97 4Runner has recently started experiencing problems associated with the Dashboard Brake Warning Light. Usually in the morning or after work, when I start the vehicle, the Brake Light will not go off. The engines seen to really struggle and make uncommon noises. The engine runs very rough. At first I thought that the emergency brake was not releasing. But that was not the case. This was infrequent. Now it is happening quite often. Also now the problems has progressively gotten worse. When I try to start the vehicle, it will not start. But several attempts at turning the key off and on, it starts OK. The battery is relatively new and this is not the problems either. I took it to the Toyota dealership and they could not find anything wrong. No errors in the computer log.

I can not make the connection between the Brake Light coming on the rough engine idle. I know that the light usually has to do with the ABS system, or parking brake, but why would this cause a rough engine idle. the engine always has an uncommon sound when this occurs. Usually turning off the engine and restarting cures the problem.

I have read most of the post on the web about the brake light, but none seem to describe the problems I am experiencing.

the vehicle is an SR5, 4WD, 5 speed manual shift. 5VZ-FE engine.

any suggestions would be appreciated.