Lexus RX 2004-09 :: Error Code P0015 / Camshaft Position - Timing Over Retarded (Bank 1)

A week ago I was traveling in my wife's 2009 RX350 at freeways speeds and outside ambient temperatures around 80 degrees. After traveling about 2 hours and stopping for about half-hour for lunch, I started the vehicle and went around a mile and the Check Engine light came on, the VSC was flashing and the traction control indicator was illuminated. I stopped quickly in a gas station and checked the manual for what the warning lights meant. Nothing of any value was found; I filled the car up and headed for home, about 4 more hours at highway speeds. The warning lights stayed on and the VSC flashed the entire way home. The vehicle ran perfectly with no problems at all.

The next morning I started the car and the lights were out. Still worried, I purchased an OBD2 scanner and pulled a P0015 code, Camshaft Position - Timing Over-Retarded (Bank 1). I erased the code and the car has been fine ever since. Finally to the question, is this something I need to worry about? I travel this trip about once a month and don't want to get stranded along the road. The car has 54K on it and if it is a sensor in the engine, it should be covered by the powertrain warranty, but more importantly, will it cause damage to the engine? I read that the camshaft position sensor would only be replaced under warranty if it was inspected and causing a loud ticking noise, which I do not hear. If it throws the same error code again, I will take it in to the dealer and let them look into it.