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I'm not familiar with those warnings. Include images that show the warnings exactly as they appear in the LS-DYNA output (d3hsp or mes*).
You can create a part set with all three beam parts and put that part set as SURFA of one *CONTACT_AUTOMATIC_GENERAL.
If are just concerned only about 1 dof, I'd probably use a spring element defined with *ELEMENT_DISCRETE and *SECTION_DISCRETE. For the material, use *MAT_SPRING_ELASTOPLASTIC or *MAT_SPRING_NONLINEAR_ELASTIC, depending on what sort of nonlinear behavior you want.
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