My mk8 2015 had this warning displayed every time I started the engine. The Ford garage to investigated the problem during the last service. The disc pads etc were all fine so they checked the wiring and the fault reset.
As soon as I drove home the fault came back. The fault resets if I pump the brakes before starting but comes back randomly, usually at low speed while parking. The garage suggest that it's either a £53 tube (?) or the servo causing a brake boost pressure fault. All seems a bit vague and expensive! Any ideas?