The same thing happened to me five days ago. I was pulling into the garage in daytime, and the headlights normally come on as I enter. I got the identical message, and I could tell by the reflection off the wall that the right headlight was out. I called Customer Service and they called back the next day to scheduled a transport to truck the car over to the Miami Service Center, as headlight replacement requires removal of the front bumper. They made no mention of having checked for software error codes.
I did not drive the car again until this morning, and I noticed both headlights were functioning. I called Customer Service to inquire whether the car needed to be taken in, as I want to avoid unnecessary bumper removals (due to aftermarket radar/laser detection installation). They said there was no need to take the car in. I was unable to talk to anyone actually in the Service Center, with someone at a central desk just conveying messages back and forth, so I was unable to find out what experience the Service Center about others having this issue.