I have the brake hold on all the time, no issues...... is the parking brake engaged?
Edit: https://www.fordservicecontent.com/Ford_Content/vdirsnet/OwnerManual/Home/Content?countryCode=USA&languageCode=EN&Uid=G2087815&ProcUid=G1907167&div=f&variantid=7450&vFilteringEnabled=False&userMarket=USA
Like wow, that's a lot of driving..... This thread will help, I'm sure it would be worth the money, else trade it in every 3 years at least.
https://www.broncosportforum.com/forum/threads/extended-warranty-service-plan-aftermarket-vs-ford.1721/
Try and deactivate remote start in sync settings and see if that stops it.
Could also try and uninstall ford pass and remove phone from sync. Then reinstall ford pass and add phone back to sync.
Pain in the behind for sure........