Assuming no lowering links are installed...
A leak in air suspension system, a sensor fault, a broken height sensor link, or air compressor issue can lead to this type of problem. Since normal ride height can be achieved (as indicated by the message), it is probably not a compressor problem.
Did anyone press and hold the height adjustment buttons and manage to lock it at normal height?
Can you hear the compressor run if you initially fully power up the car but just sit there in park?
Does it lean to one side or corner?
If you have auto access height activated, does it drop all the way down when the car is shut off and you exit it?
Will it drop down to access height when you press the button while in park?
If you power it up to full power on mode but remain in park, can you raise it all the way up to off-road height? If so, can you lower it through normal and back to access height?