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So it can definitely work from the D:/ drive, just leave it there and let Steam verify the files: https://help.steampowered.com/en/faqs/view/0C48-FCBD-DA71-93EB and before you start it, make sure to wait until Steam is really done with the verification and download of any missing files.
If the warning still shows up, just press the button to fix the auto start path automatically. If that doesn't work, you can also disable the auto start and re-enable it after starting the program from Steam.
I don't know about this but your Steam is probably just busy dealing with the files. If you have a lot of Workshop subscriptions then Steam will take its time until it's done moving or verifying files.