[BlueRubber]

Update:

Replaced the brake pedal pressure sensor with a new one: #31687032
This is not the same part number as my old sensor, but my local dealer said this is the correct part.

It didn't require much force to push in the new sensor, but the large metal circlip that holds the sensor in place was a bit fiddly.
Thankfully another Volvo driver helped me with this.

It works fine and fixed the fault.
Cruise control is working fine now and no errors relating to brakes in VIDA.

Thanks for the help all.