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I just had this pop up on my 06 this weekend. I don't have any codes and the charging system appears to be operating normally. I have an OBDII scanner but not a multimeter so I'll have to run to the parts store to have them check the battery and alternator to rule those out.
There are a couple of posts about this in the forum that say if you battery is good (12V+) with the engine off and over 13V with the engine running, then you may have loose or corroded ground connections to the chassis. One of the posts even has the diagrams of where all the ground connections are.