If the Limp Mode has been cleared and doesn't come back within a few miles of you riding on, then you're probably good to go!
Limp Mode isn't usually a
DO NOT RIDE AT ALL COSTS thing, it simply stops you from revving too hard, going over about 50 mph, and basically from riding/pushing things so hard that you are likely to prang &/or damage something that might've fallen outside of its normal safety parameters; and it's
usually as a result of you triggering some Warning Code. It could've been from something as simple as your foot stopping the brake pedal from returning to its full/relaxed height and so your brake light stayed on too long; or given the Yaw Sensor finding (that may or may not be correct unless it came off BUDS), then maybe you slid the tail around a corner juuust a little, or maybe one front wheel locked up a bit under brakes on a slippery surface & there was a tiny but sudden lurch to one side?
But really, only the
proper Code, not the Limp Home Mode result, will tell us any of that. If your Spyder is a 2015, then IIRC, you should be able
to recall any Active Codes by:
Pressing the MODE and SET button simultaneously and while still holding them, press the Turn Signal Cancel (push in) button.
If there's no active codes shown on the dash then, you likely had a transient code (like that brake pedal thing or a quick lurch to the side) and you can comfortably ride on; or if you prefer, you
could take it to a dealer, wait a few weeks while they faffed around a bit, pay your money, and take your chances that you don't get told much the same thing.

I know what I'd be doing.
So really, you need to
check for any Active Codes and tell us what you find so we can properly help, but if the Limp Mode has now gone and doesn't come back pretty much straight away, the odds are good that it was transient and you can simply...
Ryde More, Worry Less!
Over to you!
