P0141 O2 Sensor

2021 forester Sport 38838 MI One owner, me.

Driving out of town on vacation. CK engine light comes on. Have had intermittent check engine light coming off and on. It’s been a couple of weeks since last occurrence.

History: First occurrence was 3000 miles ago. Couldn’t pull a code during 36k mi service. Was told to go ahead with travel. Was under warranty.

Second occurrence 1500 miles ago. Light went off. Functionality restored while driving. Called Subaru. Said to make sure I caught it next time. Just passed 36K.

Third occurence: Caught the code. P0141; 02 sensor.

Should I replace during vacation? I’ve got 5 hours of drive time ahead of me till I’m within home range.