I think this is an unavoidable consequence of use in cold temperatures.
From my (admittedly limited) understanding, cold increases the internal resistance in the battery, which causes the voltage to drop.
Lithium batteries are less affected than alkaline, but not immune by any means.
That’s what the camera is measuring to determine whether the battery is “Ok” or “replace,” the voltage.
When it warms up a bit, the resistance drops again, voltage goes back up a bit, and your battery appears to have been revived from the dead.
Anyone with an engineering background, please feel free to correct me or add to the discussion!