Bought a new 2019 this week and this is already happening to me. Had 5 miles on it when I test drove it. Morning after I brought it home I stopped at a store and when I got back in and started it up I had all the same errors: Service ESC, Service Parking Brake, Steering Assist Diminished, etc.
It happened again this morning, same scenario. Fine on first start, second start flashed errors. Turning it off on and on cleared the errors. Thankfully in both cases no braking issues.
Pretty disgusted to have a 50k+ truck with under 500 miles that already has a major issue. Build date on mine is 04/19.