That sounds normal for the running lights. In auto and daylight the DRLs will be on, but the running lights will not. Covering the sensor simulates night so the DRLs will switch to headlights and the running lights will turn on. Manual of course gives you manual control of headlights and running lights, and the DRLs will be off.
The brake lights and rear turn signals use the same filament and the same BCM output, so if the turn signals are working that part is OK. That leaves the brake pedal switch. You can check to see if it is broken or loose.
Sky NA 2007 Midnight Blue
Sky RL 2008 Carbon Flash - Naked