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Hello,
Regarding your question. The error that you see about flex joints being passive and not being in the URDF don't worry about it, those are a particular set of joints available with a certain experimental parameter to the URDF. Don't worry about it, it shouldn't affect your workflow.
Regarding your issue with MoveIt, TALOS Simulation starts without any controllers. You need to started the position controllers using
roslaunch talos_controller_configuration position_controllers.launch
This should start the position controllers on the robot and make those controllers available for MoveIt. You should now be good to use play_motion alongside.
Hope this helps.
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