Limp mode this morning

Driving into work this morning and my truck (2020 6.7 PS) went into limp mode. It’s about 10F this morning so I let her warmup for about 20 min in high idle (1500 rpm) before leaving and got about 10 min down the road and caught a red light. Light turned green and I give it the gas and immediate check engine light with reduced power warning. Managed to limp her home. Turned off the truck and pulled the code, P0234. Did a cursory google and it’s bad news right? Started truck back up and took a spin around the hood and no repeat so I pressed my luck and made it to work. Should I be worried?