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I would say there is definitely something more than just the brakes engaging. When I engage the braking “hold” on my significantly steep driveway and then engage Park the car moves forward a little as the hold brake is let off and the “Park” mechanism (however it functions) engages.

I have had exactly the same message. It appeared for the first time the morning after I installed the latest upgrade v9.0 (2019.8.5 3aaa23d) here in Australia and now appears every time I park on my driveway. I have an X100D. I have a steep driveway but have been parking on it without incident...

I found this started to happen when the fob battery was starting to go flat.

I A double click on the roof of the fob opens my driver’s door. A SECOND double click opens the passenger door.