Q: Brakes feel like they aren't disengaging

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After I drive my car for a while throughout the day (a few errands around town), my brakes feel like they didn't disengage and I have to push the gas pedal really hard to get my car to move forward/reverse. Then by the end of the day, the check engine light comes on. I'll park it overnight and the next day the same issue but then by the evening everything is normal, like it never happened.
My car has an automatic transmission.

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