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If anyone else has this, another thing is to check the little speaker that is on the under-dash trim (above the pedals on a UK car....not sure about US).
If this speaker is not connected (or connected properly), or perhaps has blown, the system will flag this message up.
I know because when I fitted my throttle tuning box, I disconnected and removed that trim section, then before re-fitting everything turned the car on, and this message came up.
Turned it off, put the trim back in place with the speaker connected, turned on and no warning message.
The SOS system uses that speaker.
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