This is a known software issue, no fix as of 9/7/2022.
Assuming zero moisture exposure, shut phone down, plug charger in, reboot phone. It takes a minute but error will clear. This has saved my S9 every time. I have noticed if my charger is plugged in but not charging, it throws this error. Confirmed nothing wrong with charging cord. If phone battery is dead you will need to charge wirelessly to around 10% before attempting reboot. Also if phone is HOT allow to cool a bit first.