Are we talking about swapping the lens assemblies or the the brake light modules?
You are correct that the light modules are different. (Sorry Wes) The 90-93 has 3 bulbs, 2 of which are dual filament. The 94-96 has 2 bulbs and only one is dual filament. They may not be interchangeable between years since it looks like they have different locking tabs. I'm not sure that the lens assemblies are interchangeable without looking misfit since the 94-96 is about a half inch taller than the 90-93.
The brake lamp sensors from 90-96 all have the same connector but as you've found out with the error message it needs to match the brake light module. The sensor is located in the trunk (not the trunk lid) behind a trim piece under the trunk lock. Look for a seller in the parts forum parting out their Q.
