As it is now, that light being on (code stored) isn't effecting anything other than the annoying yellow light.
If you're planning a trip to your dealer for other maintenance work (not just a trip there to have that code erased) and explain your situation to a service writer, chances are that they'd just reset it for you without charging you anything extra. On the other hand, if you just want the code cleared/reset without spending any money there, and you're not one of their regular customers, they'd probably charge you a minimum amount to clear the code then as they're not in business to do things like that for free.
We see this situation occur fairly often with S/V70s and S80s because sometimes customers forget to install their gas caps, leave them loose or thread it improperly (and they admit it).
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