My wifes car is a 2001 Escape V6 2wd.

The brake warning light keeps coming on and going off every so often. The fluid is full and clean and there is still good meat left on the pads/shoes. The brakes seem to be working as they should be.

What else could it be that I'm missing?

 

I can't remember now if it is a shared light with the parking brake. If it is, give the hand brake a bit of a shaking and see if the light comes on (or goes away).

It isn't throwing any codes?

I haven't checked out ours, I can later, but generally there is a slide on connector at the reservoir for the fluid level sensor. Make sure that isn't loose or grimey.

Pedal is good and hard? The ABS light isn't flashing right?