C0022-1 Brake warning lights on and grabby brakes at low speed

[meenergy]

I have a 2013 C-Max Energi with 110,00 miles. The last couple of years, and last 20,00 miles or so the Brake System Warning box pops up along with the small red Brake light on the dash and a warning sound. I push OK to the box and it goes away leaving the small red light still on. Brakes seemed to be working perfectly though. After a few miles down the road the small red light will go out, and this scenario my not happen for another thousand miles, but will eventually happen again, with same scenario.

But the other day after a no event drive of about 20 miles, I parked for about an hour and when I turned the ignition on I heard a growling noise from under the hood and both brake warnings came on again. When backing out slowly and lightly touching the brakes they seem to grab as if brakes were engaging intermittently. The car seemed to drive fine at normal speeds, and brake fine till car came to almost stop then brakes grabbing again. Have been driving the car for about 10 trips now and sometimes everything is ok, but mostly warnings lights on and brakes grabbing and making growling noise. Brakes and rotors look almost new though original. When Parked and pressing brake I hear growling sound, let off brake and sound goes away till I press on the brake again. Pulled a code of C0022-1 from a generic code reader, and pulled a code of C0022:01-28 from Android ForScan Lite.

Brake fluid is full, but color is a slightly cloudy yellow. To my knowledge the fluid has never been flushed of changed. Could that be the problem:

Thank you so much!