My MY23 Plus Four had a similar issue with the handbrake. Highlighted to the dealer when in for a small warranty job and services. A new cable was fitted but only a small improvement. This year the car was back at MMC for a hood to screen adjustment post a screen pillar repaint and wind noise and leaks after reassembly, so a service and first MOT was booked at the same time. Mark took me out for a test drive to asses the car. I asked for the handbrake to be looked at as it could well have been an MOT fail/advisory. New pads on the rear as an issue with material bonding was found with one (😱££). They checked and reset the handbrake system. Now sorted and the car holds on a slope I use for tests. It now holds well there with no creeping so no need to put into Park mode. I used a train to get back and fore from dropping the car off and picking it up. Nice train journey. Change at Hereford then on to Malvern Link for a 5 minute walk to the factory. Sausage bap and coffee in the cafe. Back to enjoying the car again.
I seem to remember comments from Caterham owners about rear disc handbrake issues.
Our Kia has an electric brake and excellent with the auto hold a nice bonus. Could well be the best solution for development. The brake also stays on unless the driver's seatbelt is connected and a dab on the brake pedal to release.