Its not asking you to change the channel, its alerting you it needs to change channels on either tuner to record a show. It won't alert you if the tuners hasn't been changed after 1/2 hr's inactivity. On the current tuner, it will alert you as it wants to change the channel to record if the other is currently being used, you can select 'change the channel' or 'don't change'. You can also press CLEAR to clear the message and to select to change.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
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to start streaming on Roamio/Bolt!