Driving Disabled, Service Park Brake System "error message"

Jaques R1S

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Rivian
2023 Gen 1 R1S
Just last night, my wife tried to back out from garage our R1S, and couldn’t shift out of Park. She had the following message : “Driving Disabled, Service Park Brake System”. Has anyone experienced this?

We are just 2 hours from nearest Rivian service center. We tried a soft reset, and then a hard reset. It seemed to clear the issue and the car seems normal. But freaked me out a bit.

Here's a photo of what the error message said

1000005221.jpg
 

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