You need to get a scanner(INPA, FOXWELL,Etc) that can read what the actual sensor(s) are doing and whether they are registering. I have had a few of these cars and the most recent one had me scratching my head with the same warning. Was able to determine in INPA that it went into "transport" mode because I was adjusting ride height. Had to dig deep to figure it out. On the Foxwell, you go to "service" and see what mode it is in. Your situation with the headlights is interesting. Please keep us updated.

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Dave S.
Northeast
2003 4.6is
2005 E53 4.4
2003 E39 Msport(a REAL ONE!)
1959 Fiat 600