If the light is on it can't be the fuse.
The wording in the owner's manual implies that the hill start assist function doesn't press the brake for you, it holds the brake for you, acting more like a line lock than an automatic brake,
Quote:
■Notes for hill-start assist control
●A slight jolt may be felt when starting off backward with the shift lever in R
and then moving forward.
●If the braking power of hill-start assist control is insufficient, depress the
brake pedal.
●While the vehicle is stopped, make sure to depress the brake pedal.
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If you tried it in your driveway, did you just release the parking brake? You gotta give it the brakes for it to hold the brakes.