Other symptoms were the cruise control not being able to be engaged or
disengaging unexpectedly. Also the shifter was sometimes hard to shift
out of Park into Reverse or Drive without pushing really hard on the
brake pedal or turning the car off and on again.
It was a relatively easy fix and we took pictures of the process to
help out any other owners with the same problem. Other GM vehicles
besides the 2004-2007 Malibu that may have the same issue are the
Pontiac G6 and Saturn Aura.
Here's the gallery - http://www.paulstravelpictures.com/GM-Chevrolet-Malibu-Brake-Pedal-Off-Tail-Lights-On-Repair-Guide
I hope someone finds it to be useful.
Cheers,
Paul