The most likely cause by far is either a weak main battery or weak/faulty auxiliary battery.
Unfortunately there is no simple way to identify the above because either battery might be OK in general and pass most standard battery tests but will still not be good enough for the Stop/Start system.
Neither battery will register a fault code when checking with STAR (or other code reader). So the only way to deal with issue is to have the two batteries replaced, one at the time (i.e. trial and error).
The next item on the list (less likely) is the battery management system which sits on top of the battery's positive terminal and could become faulty. Then there are various sensors and other items that could be faulty, e.g. the brake vacuum sensor. But these will - in almost all cases - register a fault code with the ECU. So get the fault codes read with STAR first, and if no faults are showing, then proceed with replacing the batteries.
Alternatively, just ignore it and continue driving with the Stop/Start system not operative.