What P0573 usually means
P0573 is the high-input side of a very common brake-switch problem. In plain language, the PCM thinks the brake-switch A circuit is being held too high or behaving like the pedal is applied when it should not be. On many vehicles that is enough to shut cruise control down immediately and to confuse torque-management logic. The code does not always mean the switch itself is internally shorted high. A wiring issue, wrong adjustment, or feed-path problem can all make the brake signal look permanently applied or electrically implausible.