iPad left behind notification

When I’m away from home, I get the notification on my iPhone about “iPad left behind”, with the Find My icon.

It’s fine that the iPad is not always with me. Notification would be helpful when the iPad wasn’t at the home location (e.g. actually unintentionally left behind when out and about). I would like to modify the messaging to just about devices not at my home. Is that possible? Where can I find settings for this, if there is configuration?