The first time this happened I called $tealership and they wanted me to drive it in without clearing the codes. I told them that this was impossible since I'm on one gear only and could barely do 20mph. So I've just learned to live with it and like I said the problem only happens when I've parked overnight and don't warm up engine in the morning before take off.

Thanks for your input Art. I will update once I get it diagnosed. I feel like parking right outside my Indy and in the morning just turn on and go so that the message appears to get a diagnosed. I feel like that's the only way since the message connot be cleared before diagnosis. I will update if my madness leads me to do this.