Hi @luthermanriquez
The warning light indicates ''brake override malfunction.''
You're not the only one to have experienced this problem. Here's a [https://www.tacomaworld.com/threads/brake-override-malfunction.513254/|link] that describes what others have tried and found (or failed to find) caused the problem.
Since your problem is intermittent it may be more difficult to isolate but perhaps first check if the 10A ''Stop'' fuse #28 in the engine bay fuse box is OK. Also check that the taillights are all working OK and not that one is dimmer than the rest, as these two things seem to have some affect whether it occurs or not.