Sorry to see your having trouble sorting this out. Mine did the same for more than two years. Finally at the beginning of 2022 I brought my truck to dealer and it actually had a stored code. It turns out a wire was grounded, they repaired the wire and sent me on my way. In the last two months I have gotten the message three times, and each time it was after driving about 8-10 miles, parking the truck for 45-60 minutes and then driving again. The truck had time to cool some (-25 to -28C ) and when I restarted and drove away it appeared. It appears when engine temp reaches 87C (188F). Winter is almost over in my part of the world (northern Quebec, Canada) and I haven’t had any real problems since, so I haven’t been back to the dealer.
Have your dealer look for a short or a loss of amperage, in my case it had a 0.85 amp loss in the system that seemed to cause the problem.
Good luck to you, and let us know how it turns out.