Engine

Set speed does not cancel when the brake pedal is pressed

Do the brake pedal position switch test Testing and Inspection.

Do the cruise control input test Cruise Control (PCM) Input Test.

Test the brake pedal position switch signal input.

Check for PGM-FI DTCs Initial Inspection and Diagnostic Overview.

Also check for

Short to power on the ORN wire

Also check for

Faulty brake pedal position switch