It’s possible I’m experiencing something different. I only get the message when I don’t have a seatbelt engaged, ACC has been selected over normal cruise control in the digital dash menus and Cruise Control has not been activated with the steering wheel button and you bring the car to a stop...
That sounds like proper operation. In my case above, I have ACC enabled but not active when I get the message. I believe this may be the OP’s situation also.
I have a 2020 GT Convertible and was getting the same message. I had disabled the seatbelt warning and have determined that if I’m wearing my seatbelt, I don’t get the message. If I’m not wearing the seatbelt, the message will show up almost every time I come to a stop.