It's an intermittent issue, and now the car works fine despite nothing changing. However, it did "fix" itself before and crop up again. I can try and see if the cruise control/speed limiter works, perhaps it's related to that.
However I have another theory, the OBD scanner picked up a fault with the O2 sensor heating circuit, and that can cause under fuelling when you first start it up, and hitting the brakes may cause it to further cut fuel and that causes it to stall.
Why that's possible is that when the issue does pop up and I hit the brakes, the revs fall but if I'm quick enough to release the brakes the engine can catch itself before stalling.
Why the theory isn't 100% confirmed is because I tested it this morning completely cold and it didn't stall when pressing it in.