Think my (pioneer) will not show the screen if a destination has been put in that I have not reached (try setting it to direct you round the corner from your destination (down a road you don't go down).
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I don't use the navigation on a daily basis so that's not really the solution. The point is this message shows every time I start the car even if navigation is disabled = not destination is chosen.
In case that may help find the solution: I remember that this message had never shown until I used the navigation for the first time.