List Unique Product Brands by Product Categories

I am trying to extract unique brand names and list them in cells A2:E6, column categories like this.
A B C D E
1 Category-1 Category-2 Category-3 Category-4 Category-5
2 Brand-A Brand-E Brand-F Brand-M Brand-M
3 Brand-B Brand-F Brand-H Brand-N
4 Brand-C Brand-F-SE Brand-J
5 Brand-D Brand-G Brand-K
6 Brand-F Brand-L

I could not move beyond this formula: =LOOKUP(A$1,Categories,Brands)

However, I was not able to figure out how to get the unique values and in sorted order (Not very important, but preferred), see attachment.

Any help and/or suggestions will be greatly appreciated.

Regards,
RJ

The raw data list looks like something like this:

Item# Categories Brands
Item1 Category-1 Brand-A
Item2 Category-1 Brand-A
Item3 Category-1 Brand-A
Item4 Category-1 Brand-B
Item5 Category-1 Brand-B
Item6 Category-1 Brand-B
Item7 Category-1 Brand-B
Item8 Category-1 Brand-B
Item9 Category-1 Brand-B
Item10 Category-1 Brand-B
Item11 Category-1 Brand-C
Item12 Category-1 Brand-C
Item13 Category-1 Brand-C
Item14 Category-1 Brand-C
Item15 Category-1 Brand-C
Item16 Category-1 Brand-C
Item17 Category-1 Brand-C
Item18 Category-1 Brand-C
Item19 Category-1 Brand-C
Item20 Category-1 Brand-B
Item21 Category-1 Brand-B
Item22 Category-1 Brand-B
Item23 Category-1 Brand-B
Item24 Category-1 Brand-D
Item25 Category-1 Brand-D
Item26 Category-1 Brand-D
Item27 Category-1 Brand-F
Item28 Category-1 Brand-F
Item29 Category-2 Brand-E
Item30 Category-2 Brand-E
Item31 Category-2 Brand-E

Thank you Siva for this solution, it works perfect.

Does my data have to be sorted, since I noticed Brand F did not list in proper order, but every brand was listed in the proper category.

Can you explain both countif parts of the formula if you have the time.