Battery Won't Charge in Neutral Warning While in Drive

[njlexus450h]

Regarding my 2006 RX 450h, while I am driving (in D - Drive) and turning right, a warning comes on with a ding ding ding, overhead light, and message on the display that reads: "Caution - Shift the position in to P when parking. The batteries will not charge if the transmission is in Neutral N. This suddenly started the other day and happens at any speed while when even slightly turning the steering wheel to the right. I am not parking or stopped. What is up with that? 

[RX400h]

How old is your 12 volt battery? If it is near or beyond 5 years old, it's time to replace it.