Just as our car exiting the 36,000 mile full warranty, we started getting this message every time we go anywhere. And the only way around it is to turn the car back on, shift out of park, back into park, and pray it recognized the car is in park when you shut it off. Mind you, the car would be in park, the system just didn't recognize it, and wouldn't stop chiming until you fixed it. We would have the message pop up, go shopping, and when we got back to the car, it would still be chiming the message.