Hi not sure if you got this sorted. Just a suggestion as I had the same thing happen on my Ducati. Turns out the fuel cap was not quite pressed all the way down. Cap was down and locked but it needed pressing a few more mm. to get it completely closed. I havent checked to see if the same can be done on my xr.
Anyway A tank of gas and 250klm later it reset itself and warning light went out.
Has not come back again.
Ned