The wiring harness that goes to the boot is attached to the hinge under the bootlid. Over time and extensive use (opening and closing of the boot), those wires get weak and start to break. Eventually it gets to the point where they lose contact for a moment like you are experiencing: enough to throw a code yet they still come on. If you let it go on, they eventually will not work.
The only way to fix it is to remove the bootlid trim, unwrap that harness as far as you can reach and see and go over each wire and fix any cracked wiring you see.
Believe it or not, it's quite a common issue, especially on the tourings.
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