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I would just look for it to re-appear At worst you will always have brakes but maybe just not 100% of the ABS will be working--
Most likely it was a fasle or intermitent code caused by cold weather--humidity-
If you are worried-I would suck out all the old brake fluid you can and then flush and bleed the entire system--- Have you ever replaced the brake fluid ? Even though the car has low mileage-- the fluid is 14 years old !!! Most likely contaminated from age--
After an aggressive stop, my C5 developed a leak in the booster. I'm not sure if master cylinder pressure is being referred to as vacuum of the brake system indicating a leak in the brake booster or other possible vacuum leak. Mine had a leak and I replaced the big can. What a pain! The car didn't throw a code for me when this happened though.