What tire pressure are you running? If you're running too much pressure you may be triggering the over-pressure warning after the tires heat up.
Of you could have a sensor that's getting a weak battery since its an 06. They're supposed to be 10 year life, but not all of them last that long. A tire shop with a TPMS tool will be able to tell you if any of the sensors are giving out a weak signal.
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