That error is displayed when the vehicle thinks there is something out of place between the sizes of the two rear tires. For example, if you were running a spare that was smaller than the other side, it would/could display that. So, if your tires are the same size, and both aired up to the same pressure (not sure if a low tire pressure would be enough to cause this) then I would suspect it is a bad wheel/abs sensor or whatever sensor they are using to match the two sides. Basically, it thinks one tire is turning at a different rate than the other. Again, a bad sensor, a bad connection, bad wiring. Now days, with all the sensors they have to see it happening to get their computer to pull the code to tell them which sensor is malfunctioning. I still don't know why these auto manufacturers don't program in the system to log all faults and errors. Even if they just held all faults for a few days it would be very helpful.
I don't see this damaging anything on your expy, it is just limiting the diff from locking up as much as it could. I would want it fixed but I wouldn't be worried something major is wrong. I think a chat with another dealer would be worth it.