Check Engine Light Came On But Then Turned Off. It Was The Oxygen Sensor. Is It Broken

Last week, the check engine light in my 1998 Toyota 4runner came on. After driving about 115 miles or so, the light randomly turned off. I was a little worried about it so my brother took it to get it checked out. Apparently it was the oxygen sensor.
Next weekend I am going on a small road trip and I will be driving about 800 miles between 3 days. Should I be ok since the light is off? Is the sensor probably broken or was it a temporary thing?

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