In my case, this message appeared last Sunday after a weekend trip (~400 km) and didn't go away. We could still drive the car but Tesla told us to stop driving it as they could not identify the cause remotely, and they came at home to pick it up on a trailer, although the service center is <2 km from home. It took 48h to repair. (First day was actually mostly spent discharging the battery to <20% by heating the car at max. You can monitor that on the app!).
The cause of the problem was the main battery contactor that was showing signs of degradation. (This contactor is the one disconnecting the battery from the drive unit when the car turns off. A high power, high voltage component.) They said they replaced it with a new model that should not develop such degradation. The car is at 106 000 km, it's a 2013, so I guess that's the kind of problem that pops up after a couple of years and several kWh going through the components. No cost for us as it is on the "Infinite Mile Warranty". I'm very happy with how this was managed. I would certainly not have expect that level of service on an ICE car with that many km on the counter.