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Do your low beams stay on with your highs?
Your idea that the start-up of the lamps causes a low voltage sounds right and you've got some possible causes.
Another one might be the contacts in the brakelight switch. If they don't make good contact then they could add to the low voltage problem and cause the cruise to kick off. The fact that the cruise doesn't come back until to tap the brakes supports this idea, but with all of the logic going on on all the controllers the brake switch may just be resetting the cruise system.
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