This same error happened on my new Model X the week before Thanksgiving. Seemed to only happen 30 minutes into driving or so. Took it to service, they couldn’t replicate the error and couldn’t find anything wrong. Error came back, took it in again, and they spent 3 hours replacing all the gearbox fluid. Error came back again. Service seemed to think it was a software issue as they couldn’t see anything wrong and the car drives fine.
Haven’t seen the error since the most recent software update, but also haven’t taken any long drives, so we’ll see!
I had a very similar thing where the message would only come on after about 30 minutes of driving.