Have been getting a service brake soon message on the display about every other time that I start the truck. The brake light and the message stay on until you shut the truck off. Checked all of the brakes and the fluid and everything looks ok. Any ideas?

You have a bad ground connection. Check the single wire, under the drivers side door, attached to the outside frame. Remove, clean, reattach. Your Service Brake Soon (Light and Message) will go away!