That light can come on for many reasons, but yes, the most likely is going to be a failed DPF regeneration. This is when it is over 40% full. Absolutely no harm in taking it for a 30 min highway drive, give it a chance to do a proper regen. If it continues to fail to regen, eventually the coil light will come on as well ( 60% full ), and the car will try and regen every time you start it. Only at this point would it become necessary to consider going to a dealer. At 80% full the car goes into limp, and you will have to have it towed to a dealer.
Go give it a 100kph drive.
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