Rear Occupant Alert (ROA) System
The ROA is provided to help prevent exiting the vehicle with a rear passenger left in the vehicle.
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When you open the front door after opening and closing the rear door and turning off the vehicle, the warning message appears on the cluster.

1: Check rear seat for passengers and belongings
You can activate or deactivate the ROA from the infotainment system screen.
The option can be found under the following menu:
If your vehicle is equipped with the infotainment system, the option can be found under the following menu:
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Press the SETUP button of the infotainment system.
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Press Vehicle → Convenience → Rear Occupant Alert on the infotainment system screen.

The ROA system does not actually detect objects or people in the rear seat. By using a rear door opened and closed history, the system informs the driver that there may be something in the rear seat.
Always check the rear seat before exiting the vehicle.

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The ROA system uses a rear door opened and closed history.
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The history is reset after the vehicle is in off position and you exit the vehicle and lock the door remotely. So even if a rear door does not reopen, the ROA system alert can occur.
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For example, after the ROA system alert occurs, if the driver does not lock the door, and drives again, the alert can occur.