I had a couple of these warning come up directly after bmw replaced my run flats. It was just the system had to be reset. I did this a couple of times and it went back to normal. Another time it went off and i noticed that there was a puncture in my tire.

The best thing you can do is keep tabs on each tires pressure and see if there is a puncture.

 

My car gave me the same warning. I took it the dealer and they told there was a small nail. They did not have a tire available so the put a plug. I am still riding with a plug for about two months. Hey! i will trade the car in Nov. So I am not pretty sure i will replace the tire.