2005 chevy malibu can't shift with foot on the brake - have to press the brake...

...down further to make the shifte I have been having a few problems with my car recently, all I think related to the brake pedal? When you depress the brake to shift into reverse or drive there is a sound and you can't depress the shifter button, if you press the brake harder it will let you depress the shifter and shift. Also the cruise control will not work, the brake lights are on sometimes even when you are not pressing the brake. I have the feature that lets the brake and gas pedal move up and down - don't know if that makes a difference.

Sounds like the two switches on the brake pedal are out of adjustment.

One switch controls your brake light. This would explain why your brake lights are on and why your cruise control doesn't work. The cruise control monitors the brake lights to dis-engage when you press the brakes. Adjust this switch so the brake light comes on with the pedal press about 1/4".

There is a similar switch on the brake pedal that controls the transmission safety lock-out. This switch is also adjustable. Adjust it so you don't need to press so hard on the brakes to put it in gear. But don't go too far as it is unwise to defeat this safety device.