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Parking brake not set , vehicle may be free rolling

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The last few days I have been getting this message on my screen when I put the car in park on occasion. When it happens I put it back in drive and then again in park and it goes away. Any idea why ? Thanks.
 

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I found the following in the owner's manual:

The parking brake automatically engages when you
shift Model Y into Park, and releases when you shift into
any other gear.

If the parking brake experiences an
electrical issue, the amber parking brake
indicator lights up and a fault message
displays at the top of the touchscreen.
 
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Reactions: mcorf