The diagnostics will tell you precisely which one it is as I had an intermittent warning about a month after I got the car.
Turned out to be one of the rear bulbs & apparently it's common for the connectors to slightly corrode with use over time, causing a slight fluctuation in the voltage.
Solution wasn't just cleaning the connectors, but found swapping them around has worked best of all as some don't get used that much & almost new... haven't heard a peep out of it since