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I believe the root cause of the issue is the very low duty of the motor in normal use.
Normal use for the motor is probably 5-10 revolutions every time hill start assist is activated. The high current draw experienced during start will create some arcing on the commutator and the resultant fouling will lead to sticking brushes and a high resistance between brushes and commutator.
I had the issue. I took a 50x25mm 150mm length of wooden baton and held it against the end of the motor. 5-6 sharp hits with a wooden mallet and the reset the fault codes. Upon test drive I used the cruise control with brake assist to slow the car 10-12 times from 70-30mph, thereby running the pump for 3-4secs at a time. Every time I exit the motorway with a clear slip road, I use the cruise control brake assist to slow the car. The fault has yet to return.
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