The front assist sensor is behind the VW badge in the upper grille on the mk7.5 Golf. If its view is obstructed - e.g by heavy condensation, if you’re driving through very heavy / torrential rain or snow / sleet has covered the VW badge - then an error message can be displayed.
If the message was generated because of obstruction to the sensor, then ensuring the badge is kept clean and clear of weather-related obstructions should stop the message appearing…………unless there’s an underlying fault with the sensor itself.