If this is an occasional problem, you can try cleaning your cameras, and sensors if they are covered with gunk / dirt, or rebooting the car.
As far as "if it needs service, is it covered under warranty?" that would only be the case if the car was still under the bumper to bumper warranty, which is 4 years or 50k Miles. You recently posted that your car has more than 50k miles, so the only warranty you have is battery and drive unit, not cameras and such so