Possible electrical issue?

A few weeks ago, two messages popped up on my dash saying the “EPB shift interlock function was activated”. I ignored it for a few days not knowing what it was, then a new message popped up on my car about a malfunction with the stop and start system, this message persisted a few times and told me to contact my dealership. I went in to get it looked at and they said a battery sensor needed to be replaced. It’s been a few weeks since then and now a new message popped up on my car that I didn’t get to fully read but it said something about an abnormal voltage and something about my power steering. Could I have an issue with the battery? And could they have misdiagnosed my issue initially? If so, would this be covered under warranty?