I've also had the brake switch issue at one time. Took me quite a few days to crack it since as per the internet usually the vsa error comes with abs and that means an actual malfunction. This, however, was picked up by my genius friend who linked that the gear getting stuck in P is complemented by the brake lights not working.
On a different note, times like these make you realise that owning an imported but international model is a big plus as compared to japan specific models such as mark x, crown, premio etc. I used to own a Mira and finding information on the internet was a nightmare. Even if you did somehow land at a forum for your car, the language wouldn't be English
So, good choice friends!