TPM device not detected

For the past month, every time I start up my 5-year old XPS 15 9560 laptop I receive a Dell Alert TPM Device is not detected. I don't believe I have TPM. It's not found in BIOS, Settings, Windows Security or MMC. In Windows Security I see Secure boot is on and Standard hardware security not supported. Windows 10.

The Dell Alert gives 3 options Continue, BIOS Setup and Diagnostics. I press Continue and everything works fine after that. I've tried disconnecting the battery and holding the power button down for over a minute - did not help. Is there a solution to getting rid of this error or will I need to hit Continue every start up?

Thanks for any help.