I get the 2 red brake lights on.
I am going to assume that those two lights are the Brake System Warning light and the ABS indicator light on the dash cluster. The only things that can turn the Brake System Warning Light on are the Parking Brake Switch and the Brake Fluid Level Switch. That circuit is dumb-ass simple. You said
no lights coming when driving or engaging the hand brake.
If that means when you are driving you apply the hand / parking brake and the Brake System Warning Light does not come on, then that suggests that you have a problem of some kind with the Parking Brake Switch being sometimes on and sometimes off. The problem could be the switch itself, the wiring or the adjustment of the handbrake. Based upon your description of the hand brake being tight, I think it might be appropriate to adjust the hand brake first (the switch does not appear to be adjustable). The service manual provides a diagram of the Parking Brake system on page 19-27; but, no guidance on proper adjustment. There is an adjusting nut at the equalizer where the cables attach to the brake lever rod. I assume the procedure is adjust the lever to get the lever movement that you like and confirm that the parking brake switch is operating correctly when the brake is engaged. Make doubly sure that the rear calipers are not dragging when you release the parking brake.
Of course, make sure that your Brakes System Warning light is not coming on because the brake fluid has dropped to the level where the brake fluid switch may bouncing on and off as you drive.
The parking brake switch provides an input to the ALB controller. The ALB controller will generate a code 2 error if the parking brake switch (or the brake fluid level switch) stays on for
30 seconds or more after you start driving. So, I think the likely cause of your problem is that your parking brake switch is doing flakey things. That might be a switch problem or it might be a problem with the adjustment of the parking brake mechanism.
A parking brake switch problem will also cause TCS problems (again error code 2)
I underlined the 30 seconds part because the parking brake switch needs to stay on for 30 seconds while driving to cause the ABS warning light to come on. Briefly applying the parking brake while driving will not cause the ABS warning light to illuminate.