Every time I start the car, the warning screen will appear and I need to press the OK on the screen. Is this always have to happen? Is there a way to eliminate it? Thanks, Mark

Are you talking about when you are on the map screen and the navigation screen? If so, YES

Or are you getting a message about a parking brake error? If so, NO

"if so yes" meaning there is a way to eliminate the message, or that it will always appear?

tis unclear

Yes, it will always appear. No, you can't really eliminate it.

Only work-around is to have a route active....