I had the same issue but with a lot more other alerts. First time it happened it went away and I had no issues for a month. Happened again, and went away again, but made appt with service center. They looked into the logs and said I needed my steering column replaced. Pretty quick fix under warranty. Mine was a late 2023 build.
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Got the car back tonight after we pushed for a preventative fix and they acquiesced. Supposedly there was nothing in the logs that indicated a defective part. Tesla initially were going to give us the car back without any changes. We discussed the history of steering rack swapouts that we've read about and they agreed to do it. Hopefully that's the source of the problem. No issues on the drive home 
Thanks to everyone who posted about it.
Thanks to everyone who posted about it.
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