Why does this message keep turning on, Taillamp/brake lamp, Right Substitute bulb on?

Thanks for the pics, it sounds like the driver side SAM module is going out, but this is what the manual says about the substitute lights.

Substitute lamp actuation
Function
The lamps and LED lamps for the exterior lights (ABL) are constantly monitored for short circuits and open circuits. In the event of a failure others are actuated, where applicable pulse width modulated.
The scope of the substitute lamp actuation is country-specific. Flashing functions have priority over continuous light.

An active automatic lamp substitution function is notified to the instrument cluster (A1) by the front SAM control unit with fuse and relay module (N10/1) or by the rear SAM control unit with fuse and relay module (N10/2).

Lamp failure indicator
A faulty lamp is indicated as text in the multifunction display (A1p13) of the instrument cluster.

Emergency lamp actuation

Function
Emergency light actuation is intended to avoid complete failure of the exterior lights (ABL) due to a fault, e.g. in case of failure of a processor.

In the event of failure of the interior CAN or of an SAM control unit, the following functions are activated within 1.5 s:
^ by the front SAM control unit
- Front standing lights actuation
- Front low beam actuation

^ by the rear SAM control unit
- Rear taillight actuation
- License plate illumination actuation

^ by the trailer recognition control unit (N28/1)
(for code (550) Trailer hitch)
- Trailer taillight actuation over trailer hitch socket (13-pin) (X58)

I would do a CAN scan which is easy you can get a CAN scanner from Amazon for about $30.00 here is a video to show you how.

https://youtu.be/u-4syLc-ifQ

Here is a scanner link:

https://amzn.to/3o41KcZ

Check out the diagrams below and let me know please. I am interested in seeing what's going on.

I will scan it, but all the lights in the front work, blinkers work, same for the rear except for the rear is actuated and am trying to find out where are the burned bulb supposedly are located.

That's the thing if the module is out there will be no bad bulbs. I would turn the emergency flashers on to see if there are any bad bulbs and if not replace the module.

I am thinking the bulb carrier let me try it from another car i have.

Sounds good, let me know.