I just got hit with this on a 2024 GMC HD2500 Denali. Dealer didn't know, GMC customer support didn't know, and there's no mention of it in the owners manual (which you have to BUY now if you want a freakin printed copy!)
I landed on this thread via a web search, and it left enough of a bread crumb trail for me to find it.
The "Magic Word" can be found in the Infotainment system under: Settings -> Security -> Choose a lock type. Choosing "none" will turn off the nag prompt. Apparently somewhere in the process of setting up your phone as a 'trusted device', it prompts you to set a lock but doesn't really explain the consequences of doing so until it's "too late". I remember getting prompted to set up a pin while I was going through the process of configuring my new truck, but this was just one option out of the many I was setting up on the new truck so when the thing started prompting me for it at every single startup, I didn't remember where the associated setting was.
I just joined here so that I could share this information in case someone else gets frustrated by it.
Bear