On my server, I uninstalled an interface which was used by the RRAS before (as IGMP proxy). This interface was not properly removed. If you look at the registry settings of RemoteAccess (HKLM\CurrentControlSet\Services\RemoteAccess\Interfaces\) you see different numbers. Each of them is one interface. In my case netsh routing ip igmp show interfaces listed one GUID of an interface which was not present anymore. You can compare "InterfaceName" with the list of interfaces at "tcpip\Parameters\Interfaces" (under services, too). After I removed the old interface (deleted the whole number) from RemoteAccess\Interfaces and restarted the server the message was gone.
Removing the IPMGM resolved the problem for me too. Open Routing and Remote Access; Under IP Routing, delete the IGMP protocol completely.
These error occured on my RAS server after I disabled IGMP. They continued until I removed that routing protocol altogether.