Time to call. fcccservice@daimier.com
(800) 385-4357
They should know. If you have a volt meter, check the battery voltages on both banks of batteries just to be sure.
I get the low voltage warning on my Berk. It goes away after a few minutes. When I as at the factory in 2015, Randy & crew said not to worry about it. It's just a quirk of the charging system.
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It ain't easy being me...I've tried.
Unfortunately it doesn't go away for me. The more items I have using the electrical system (GPS, radio, A/C, map light, etc), the more it keeps beeping.
And if I let it idle, it ramps the idle up pretty high. I hit the brake to put it back down, but in 30 seconds, it's back up again.
I'm pretty sure this is something I should address.
I've seen 2 month old batteries drop cells and quit charging. These were the expensive batteries from Napa. Load tester would help with your diagnosis as well as charging output voltage.