Kia Sorento Warning Lights

Maybe a low battery

For the brakes .....there is a switch under the brake pedal there is a rubber stop that may be missing

Kia Sorento parking brake or brake fluid dash warning light - this light is illuminated when the park brake is applied, the warning light should go out when the parking brake is released. If the light does not go out it indicates that the brake fluid level in the reservoir is low and you need to pull over and top up at your first opportunity.

1-check parking brakes not applied
2-check brake fluid
3-if it is too low have the brakes checked they might be wearing out it doesn't mean you have a leak but when the brakes wear out the become thin causing the caliber piston to push out more lowering the oil level in the reservoir

The code is not complete it should be P0571
P0571 KIA - Brake Switch A Circuit
Symptoms - Engine Light ON (or Service Engine Soon Warning Light)
- Stop light inoperative
- Cruise control system inoperative Possible causes - Misadjusted brake switch
- Brake switch open or short circuit
- Poor brake switch electrical connection
- Failed brake switch

CHECK CAR WITH CODE SCANNER FOR FAULT CODE

have alternator checked out.when you see battery warning light.that means battery not geeting charged by alternator.

I believe it's the washer fluid light

Here's a list of your dash lights and their meanings

Left
1. Door-ajar warning light
2. Oil pressure warning light
3. Check engine warning light
4. Tour or Sport for the ECS
5. Security indicator

Center Warning Lights
1st space down
Left: 4-wheel steering oil level warning light
Right: Brake warning light
2nd space down:
Left: Anti-lock brake warning light
Right: Active Exhaust Tour indicator
3rd space down
Left: cruise control indicator
Right: cruise control ON indicator
4th space down:
Left: charging system warning light
Right: High-beam indicator

Right Warning Lights
1st down: Not used
2nd down: Seatbelt warning light
3rd down: Washer fluid (2 storage containers)
4th down: Supplemental restraint system (SRS) warning light

Have belt(s) checked to start with, as well as charging system output, as in alternator.

Anti-Lock Control —Vehicles Built After 03/2002 The 3-channel anti-lock brake system consists of the following components:

• front wheel speed sensors
• front wheel speed sensor rings
• hydraulic control unit (HCU)
• Anti-lock brake control module (ECU)
• rear wheel speed sensor
• rear wheel speed sensor rings
• yellow anti-lock brake warning indicator

The 4-channel anti-lock brake system with traction control and stability assist system consists of the following components:

• active brake booster with integral solenoid
• brake booster release switch
• front wheel speed sensors
• front wheel speed sensor rings
• hydraulic control unit (HCU)
• stability assist module (ECU)
• stability assist event indicator
• lateral accelerometer
• longitudinal accelerometer (4x4)
• rear wheel speed sensors
• rear wheel speed sensor rings
• steering wheel position sensor
• yaw rate sensor
• yellow anti-lock brake warning indicator
• brake pressure transducer
• traction control switch

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I suspect the abs issue is causing the speed control not to work if it happened at the same time the cruise control stopped working. When the yellow ABS light comes on, it means the ABS is dactivated. You may have a faulty accelerometer which senses acceleration and yaw (side to side lean). I have not seen a bad one but you said it is sensitive to acceleration.
I would unplug it and see what happens. The connector should have a small tab to depress so you can pull the connector out.
Here is where it is:

Accelerometer Removal and Installation

1. NOTE: The accelerometer is located under the center, rear passenger seat carpet. (I think you have to remove seat for access).
   Cut the carpeting along the perforations.

1. Disconnect the electrical connector.

1. Remove the nuts and remove the accelerometer.

Have dealer hook up tester and pull fault codes if you can't find an easy solution.
Some background info

A malfunction in the anti-lock brake system will cause the anti-lock brake control module to shut off or inhibit the system. However, normal power-assisted braking remains.

Malfunctions are indicated by the yellow ABS warning indicator in the instrument cluster.

The anti-lock brake system is self-monitoring. When the ignition switch is turned to the RUN position, the anti-lock brake control module will carry out a preliminary self-check on the anti-lock electrical system indicated by a three-second illumination of the yellow ABS warning indicator in the instrument cluster.

During vehicle operation, including normal and anti-lock braking, the anti-lock brake control module monitors all electrical anti-lock functions and some hydraulic operations.

Each time the vehicle is driven, as soon as vehicle speed reaches approximately 20 km/h (12mph), the anti-lock brake control module turns on the pump motor for approximately one-half second. At this time, a mechanical noise may be heard. This is a normal function of the self-check by the anti-lock brake control module.

Pedal pulsation coupled with noise while braking on loose gravel, bumps, wet or snowy roads is normal and indicates correct functioning of the anti-lock brake system.

Warning Lamp Indicator
The anti-lock brake system (ABS) uses the yellow ABS warning indicator to alert the driver of a malfunctions in the ABS.
The yellow ABS warning indicator will come on to warn the driver that the ABS has been turned off due to a symptom that exists in the ABS. Normal power assist braking remains but wheels can lock during a panic stop while the yellow ABS warning indicator is illuminated.

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Please report back, I am curious if that is what it is. Good luck