There is no warning in chat that warns that you're about to fail an afk check.
Unless they changed it since beta, it's just the box that pops up as part of the regular afk checks. If you let it sit for 3-5 min or so (also appeared to be variable when I tested it), it fails. Then you get a message for failing the check.
As Baler mentioned, there are however chat messages warning that you have left range and a countdown has started.
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