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Had a very similar experience last week with my 2010 F10 too! Similar voltages to what you mentioned and exactly the same error messages about the charge being too low and the battery draining while stopped. My battery was 8 years old and never had any problems before. I tried charging it fully but the error came back within a day or two when the car had been sitting for few hours. The message would stay away if I drove a long distance, as expected. I think the battery discharging message could just be the fact that the battery is old and cannot hold charge as well as a new battery so the car sees the drop in voltage and shows up the battery discharging error?
Anyway, I changed out the battery for a new one last week and registered it to the car, have had no error messages since and all is good!
How old is your car battery?
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