Since the message cleared itself, I would not be worried. If it comes back, especially if it doesn't clear after restarting, I would see the dealer. Lots and lots of little computer modules in these cars. Even if something is a millisecond slow responding, it will show a fault.
Many fault messages end up being caused by a low 12 volt accessory battery.
Many fault messages end up being caused by a low 12 volt accessory battery.