Hi ! Whilst I have never had that warning light, there have been occasions when the car was lumpy on tickover but it soon passed when I revved the engine or it got warmer. It was not a regular thing but noticeable when it happened.
I do not know how many miles on the clock but you may find there are some things which may mitigate it happening in the future, especially if your local dealer said there were no codes registered.
Always said I would go back to a 6 series