I have about 4500 mile on my ID4 and this issue has happened twice for me. Both times were a cold start after being parked in the garage all night. Tried hard resetting infotainment and used the start/stop button but neither cleared the error. Tried wiping off the sensors on the front bumper and camera in front windshield and resetting did not work.
The first time the travel assist message kept popping up about every 30 seconds and chiming the entire drive, I went into a store and when I came back out the id4 did the same thing the whole way home. I parked it a few hours at home then the next time I got in the message was gone.
The second time it happened the message only popped up once but I was in a hurry so I did not have time to screw around with wiping down sensors and resetting everything, when I got to where I was going I parked and when I got out and locked it, the everything looked like it locked...the mirrors folded in the main headlight beams turned of...but the daytime running lights stayed on. I came back out five minutes later and they were still on, so I got in the car and started it and the message was gone. I got out and locked it again and this time all the lights turned off.
I would take it to the dealership but they were clueless last time and they told me to wait for the updates that should roll out in September. Well September came and went and still no updates, so I think I am just going to have to bite the bullet and switch to something more reliable.