I am constantly getting the "EPS not available" message along with the yellow triangle light. I have a brand new battery and have checked all fuses and relays. I am thinking it may have something to do with the brake light switch as others have mentioned before.

How can I test the switch? I may be answering my own question but if I press the pedal the rear brake lights turn on as normal and I can shift perfectly from Park, but if the engine is off I need to press harder on the pedal to be able to shift from P - sometimes I need to press even harder on the pedal for the lock mechanism to release the shifter. Again, this only happens when the engine is off. When I turn on the engine, naturally the brake pedal has more travel and I have no issues shifting.

Could this be an indication that the switch is failing? Do these cars disengage from P without issue regardless if the engine is on or off?

Oh! One more thing, the EPS error usually appears when I am cruising and not pressing on the brakes

Well actually I saw that one of the rear tires was low so I got it fixed. The next day I got the same error again and took a reading of the fixed tire´s pressure and it had 5 psi less than the rest. I added the 5psi and now all for are running the same. I have not had the error show up again, although I have only driven it twice since. Hopefully, that's the end of it.

I must admit that I find it odd that only 5 psi would be enough to trigger that code.