I had a software update, that cost a little bit, but I have not had an issue in a long time.
I back into the driveway that has a pretty good slope. I was told that apparently, because I was on such a slope that the truck "felt" movement once I put it into park and would engage the parking brake. Every time, I would have to disengage the parking brake because it was on. I have no problem with this, just became a habit.
I was told that if I had engaged the brake before removing the foot brake that I wouldn't get the notice. I am just lazy i suppose, but the update did fix it. Not sure if it could help in your case.