Car a 2002 C240, get a LIGHT SENSOR VISIT WORKSHOP malfunction every so often. Anyone have a similar experience?

If a bulb goes bad this car will tell you exactly which bulb so I don't think this warning is a symptom of a bulb/socket problem, and I experimented with new reverse and brake light bulbs.

Owners manual seems to suggest Lamp Sensor involves the Automatic position and settings on the headlight switch, but it isn't explicit.

Previous work at a dealership had the tech needing to adjust a brake pedal switch in the footwell a few times before geting it right. That was a ESP/BAS wiring harness repair.

Any opinions, guesses?