is there any way to remove this warning from the draw tool?

The short answer is ‘no’.

The Draw Tool grabs one sample at a time and moves it up or down as you drag it. The usefulness of the tool is when there is a need to adjust a few individual samples, for example, to make an approximate correction to a glitch like this:
Drawing on a larger scale, as you want, would probably not work in the way that you expect, even if it were possible. It is virtually impossible to predict what a waveform will sound like from it’s visual appearance. For example, the two waveforms shown below look very different, yet sound identical:
These are the audio files shown above: