Yes check for codes.
Could be the switches on the steering boss or the clock-spring that carries the switch outputs etc. down to the logics. A failing clock-spring usually starts failing when turning either left or right so you could try some sharpish turns on the open road to see if that affects the cruise control.
I do not have cruise control or ABS but have replaced the clock-spring twice on my 2002 Export 2.5 L CRD for other problems such as air bag light!
Could still be a failing brake switch....it has three different switches on it.
The brake switch cannot be re-fitted after removal....you have to put a new one in its place if you remove the original one.
I believe an ABS sensor problem also kicks out Cruise Control.