Ive done that as well on my Ribelle, even before the 43, in a hurry to get going, rolling down the driveway slightly in slo mode trying to get it into regular drive mode so i can get going, it flips and im immediately on the throttle if I wasn't already there with the throttle slightly off zero, and you immediately felt it try to go, a distinct, power is not right and it flips the fault on me. Quick turn bike on and off it resets and runs fine.
Bouncing back and forth between F and R, F and R and then drive, wiggling the bike out of a parking slot then hitting the drive and goosing it to go, im pretty sure I probably activated or tried to activate it with the throttle not at zero and that is what set it off. I've never seen it just pop up, it always when I was fiddling with stuff like that, or having the bike up on chocks popping it to lube the chain or other goofy stuff, THEN trying to go into normal drive mode that it gives that fault.
Just my observations.
Aaron