Same issue here as well. I believe that the vibration from the compressor on remote startup is triggering my alarm. Vibration can also been seen in the front video. Issue started July 2021 around 36K miles. I’m running FSD Beta 2021.4.11.1 on a ‘18 M3P.
Same here, after hard reb oot, still there. So, I scheduled service for Software Update. Got a text from SC hour later. 30 mins later, my maps updated from 2019 to 2020 and the I could enable it. Cancelled the service appointment right then