After a week of different ‘service driver assist system’ messages, I took my Lyriq to the dealership and they contacted GM, who was aware of that issue with Lyriqs. Dealership was told to pull fuse 22 & 25 for 5 minutes and reconnect. System then rebooted and now works fine.
My park assist failed from the beginning. At dealer for two weeks and a GM engineer was able to fix it. Now the cruise control doesn’t work; back to dealer next week.