Ok, I think I can see what the problem is.
This should be the solution for you but bear in mind this is for a PCM 4 if you have the earlier PCM 3 (you may have as it's a 2015 car) it may be slightly different but the menus and choices should be there but maybe in different positions.
Select in the following order on the PCM with ignition on NAV > OPT > SET NAV > Scroll down until you see "Hide Navigation Info" and see if the box is ticked if it is isn't then that's why you keep seeing the Disclaimer and having to select "Confirm". below that is "Hide Off Road Info" same applies there you will get another Disclaimer if you select Off Road Navigation. Solution is to tick each box and the problem should go away next time you enter a Navigation Destination.