Think it explains how to do this in owners handbook tooSwitches can fail, or get full of rubbish.
You need to reset the windows to make the warning go away. All the way down and hold all the way up and hold, you'll get a confirmation. Memory is lost when the battery is disconnected.
Same with the sunroof, all the way back and hold, then all the way up and hold, if i recall
I've wondered this for a while. My 2006 Lexus is the same.Also, why do P38 constantly ask you to set the windows and sunroof?