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There are a number of things that can cause this, actually. Anything from a simple sensor problem to a massive failure can cause this.
There is no way to know why exactly you are getting this message without reading the fault memory out of the vehicle. So, the only thing you can do at this point is take the vehicle to a shop with the proper equipment to read out the fault lot. This will point you to the issue. Without reading the faults, all a person can do is guess, which can get very expensive, very quickly.
I am sorry I can't have a simpler answer for you, but this is the reality of the situation and I do trust that my honestly is appreciated.
I hope that is helpful, please let me know if you have further questions, or if I can clarify anything for you.
It has been my pleasure to help today and I wish you the best of luck with the vehicle.
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thank you in advance.