I've had a variety of issues. Mostly that it forgets my phone. I then have to reboot it, the car and the phone.
I have had that message I think twice and another message. I'd call Tesla if it is still showing and they can pull the logs (that might help). I had them pull the logs on mine and that convinced them to bring in the car again. Intermittent problems are really hard to fix and reproduce. But my phone works fine with the loaners.