Welcome to D4 ownership 
Consider getting a GAP IIDTool.  With it you can change the Car Configuration File (CCF).  The CCF from my 2014 D4 includes a parameter "Digital Speed Units" which is set to 'Km/h' and "Main scale units" set to 'Trip computer km/h / mph select".  The IID Tool allows the values to be changed...of course I have not attempted to change these specific values, but I guess yours is set to 'mph' or 'miles'.  Note that there is no guarantee this will work as some CCF settings also require software updates or additional hardware. In some cases there are co-dependant settings.  I have used the IIDTool successfully to change the DRL settings.  The IIDTool is generally very useful (some say mandatory) so worth getting anyway.
You can also go to this site who kindly show the CCF 'as built' settings for your car when you provide the VIN, select 'CCF edit' and 'edit' again (don't try to download - that requires a purchase). Genesis. You'll see more CCF parameters listed at that site than the IIDTool supports.  I gather that the folks at GAP only show CCF parameters in the IIDTool that have been shown to work and/or are 'safe' to change.  However you can request the complete CCF capability from them (I haven't needed to do that).
I don't see a setting in the CCF to retain the speed warning.
				
			 
			
		 
			
				
			
			
				Discovery D4 (L319) 2014; Tuffant Steel Mk1, Maxxis AT811 265/65, APT compressor guard/sliders/transmission-guard, ARB Summit BBar, X76 UHF, Autosafe barrier, Rijidij carrier, Longranger 74l aux tank, Darche Streamliner 1250 RTT.
			
			
		 
	
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