I took on a 12 mile drive and only had it in "D" and no warning light. When I got back home I put it in "R" and the light came on almost immediately. So maybe it is an ECU issue?It is supposed to get 12V on reverse cos that wire is connected to the reverse light circuit so that's ruled out... did you drive it only forward since and you can confirm that the HDC warning doesnt come on that way too ? at this point i can't find any logical explanation why this happens only on reverse and if the wire is unpinned it doesnt happen unless it's an ECU misbehaviour