I didn't get a voltage reading at either brake light assembly connector except 0.1 at one lead on each side (driver and passenger). The fuse is good and I inserted a new spare just to make sure. I didn't find any other loose grounds.
A few older posts mentioned a yellow "lamp failure sensor" box in the trunk near the top of the driver's side wall. I removed and opened it up and the circuit board looks good (no burned marks). Puzzled, I did a little more searching and found more info in this thread:
formatting link
Check out posts #23 by decible and #32 by G.I.JER. My circuit board has the exact same problem shown in the photos. The soldered connection at pin #12 (looking at soldered side of board) has gone bad (appears to have melted just enough to be slightly disconnected or shorted). It's small and barely noticeable and since there are no other clues such as burn marks, I didn't even see it until I reviewed these photos and inspected the board a 2nd time. To test I held a jumper wire between the solder on the board and the wire going to it (from a tiny white diode or resistor located just below the connector), and this made all 5 brake lights work. I resoldered the connection and it works fine. I'm guessing the problem was caused by the loose ground wire on the brake lamp socket causing the board connection to heat up, which I've now fixed more permanently (all it takes is for this screw to get slightly loose from normal vibration to create enough heat to melt the plastic around the screw). I'm so glad I didn't have to replace the pedal switch! Thanks for your help!
By the way one of the best features of 87-91 generation Camrys is the 4 big tail/brake lights stretched across the entire trunk except the license plate. Newer models have fewer or smaller lights so they are harder to see and might be more prone to rear collisions. I especially dislike the narrow 97-01 generation lights, which look like they are falling asleep. The current generation is better.