I have had this message but it is usually in cold and damp weather when the glass behind the mirror mists up soon after start up. It clears once the car has warmed up.
The next time it happens check the the screen from the outside to see if the clear sections on the screen behind the mirror is misted up? Al least then you will know if it is just a condensation problem.
Are the front carpets wet?, it could be that the front screen is leaking?
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XC60 2013 D5 215 SE Lux Nav geartronic
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