bringing this back up .. have the same prob. Only lamp that I could see out was front right park light replaced, msg still there. I then replaced both front park ligh bulbs (original from dealer) still msg. The msg comes on as soon as I turn lights to park on position.
I tried to save money (and the environment?) buying an LED bulb on eBay. It works fine, but the car doesn't think so and gives me the TAIL LAMP FAILURE light and sound. Oh well, back to the regular incandescent.