We also have the 2016 R29s and have had the same warning. It happened when we were in some rough weather and the autopilot was working hard to keep up against the quartering waves. I went to manual steering and checked the hydraulic fluid later and found it was low. We had a slow leak in the system. All was good as long as I kept it topped up until I could fix the leak.
Remove the black plastc cap on the main helm steering column and check that the fluid is high enough to cover the gears inside. Add some slowly with a tiny funnel bit-by-bit until it is about 1/4 inch below level with the hole. The cap is vented, overfilling will make a mess; better to add a bit, close it up, work the system, and check again later.
The pump is a recirculating system with a vented cap, so small amouts of air will work itself out. If you get a major airlock, it could need bleeding, which is a whole other procedure. If you were able to steer ok manually and continue on your way then it is probably fine.