If the audio warning occurred only once and did not reoccur since then, I would not be too concerned as the computer deemed not serious and there arent any fault codes recorded to continue.
However if the symptom occurs at predictable timings, try connecting OBD2 scanner before you begin to drive and see if the scanner can read the live data and possibly the code at the time of occurance as the fault code may be overwritten as you continue to drive.
However if the symptom occurs at predictable timings, try connecting OBD2 scanner before you begin to drive and see if the scanner can read the live data and possibly the code at the time of occurance as the fault code may be overwritten as you continue to drive.