Single pilot reported an airspace incursion occurred while they were attempting to clear a terrain warning message.

Narrative

Departing APV Runway 18; I left traffic pattern westward in the upwind following Aircraft Y also departing. Immediate west departure was for safety as additional aircraft were attempting left downwind entry of 18 at APV. Nearly immediately after turning west; I received a terrain advisory on a garment 430 NAV. The warning would not clear and I continued to follow departing traffic as I was clear of terrain but between two hills southwest of APV. For safety; I continued to focus on climbing to altitude and departing traffic rather than continue to clear the warning from the 430.I noticed I was in VCV airspace when followed departing traffic began to descend and I looked down to see an aviation boneyard. I immediately turned east to vacate the airspace and began to clear terrain message to obtain VCV Tower frequency. Although; VCV's airspace was not 'busy'; my concern is that the persistent terrain message can make it difficult for pilots to identify Class D airspace and be problematic if airspace is more congested.