Just spotted this thread. I have a 2013 REX. IF I run the car 'cold' i.e. it has sat for a while the REX will not cut-in and I get the drivetrain failure error. However, if I start the engine and let it run a few minutes before a drive, it will maintain the battery level as it should and no error pops up. Again if I then stop for a coffee or something for too long a break, then get back in and drive the REX fails to cut-in and I get the drivetrain error.
Being a UK variant the maintain battery <=75% charge is by default an option, even if I don't have this set, at some stage while running the car just on battery it will again pop-up with the drivetrain error.