I have this same issue with my Skoda Superb 2021. When I picked it up at the dealer, it was not occuring. 1 week later i got the error message maybe once or twice a day. Now a month later the problem has gotten significantly worse, I get the message aprox 3 times every minute. Even when I turn off ALL Drivers assist systems it still shows up. Im returning it to my dealer on monday morning, its undriveable at the moment. Thing is, the travel assist actually works then I toggle it on (Altough it sometimes cant steer the car in the center of the lane on the motorway and sometimes it cant even keep me INSIDE the lanes).
I will come back to you guys if they give me and answer of whats the problem.
I have tried factory reseting the car and also tried cleaning the camera/ sensor lense.