I have a 2006 Peterbilt 379. When you turn the engine on you can idle, the truck with cruise control. As soon as you touch the brakes, the cruise control will turn off. And yes, I do know that that is the way that is supposed to happen. But when you hit the cruise control button again and try to idle truck up again it will not work the only way you can get it to work again is if you turn the truck off turn it back on then you can idle the truck up again with the cruise control. I have my own ESA program on my laptop with a Nexiq scan tool. I put the code that it says that it is in a picture below. Do not know if that will help. The only thing I can think of is that when you turn the truck off you are resetting the ECM into default mode and it’s telling the truck that the brakes are not applied and that’s the reason why the cruise control will idle the truck.
I guess the first question is; was it this way before? From a programing stand point, it sounds like the function is un-latching and being prevented from re-latching [perhaps its assuming the brake pedal is still applied] hence the ignition reset requirement. Stupid question perhaps but did you check to see if the brake lights are applied after you release the pedal from shutting down the CC/idle boost?