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FWD unlocked warning while driving

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Tonight while coming home with the family, our 2019 MX 100D (pre raven) suddenly showed falcon wing door opened warning for the left side door. This happened in the middle of the drive on the highway (after driving approx 50 km without any issues).
The outside temperature was 3 degree celcius. We stopped over on a safe parking zone, tried to open the door and close through the main touch screen but the door warning remained on. Then tried long-pressing manual button all the way up and then all the way down, the door warning remained on. I could hear the door closing normally (with servo sound and latch) but the warning would remain on.

We decided to drive home with the annoying beeps, went to the garage, then checked for any obstruction to the door closing along the rim and the latch. I also checked the movement of the latch hook - it felt a bit hard to move back and forth. However, the door locked properly.

Did anyone else also face this issue? Also wondering why would the warning trigger in the middle of the drive and not when we actually started the drive.