Downshifting/Shift into Park Issue

[2020GraniteBH]

Hey all, was slowing down to come to a stop at a red light and the truck was downshifting but then all of a sudden it started beeping at me and displayed on the center dash "shift into park". Luckily I was able to stop and do that and then shift right back into drive no issues but this is very concerning. Has anyone ever had this issue before? Thanks in advance for any insight.

 

[silver billet]

Maybe low battery?

 

[2020GraniteBH]

Maybe low battery?

I don't think so everything has been working fine and it starts right up. This happened Thursday so if it was I would think it would have died by now.