Can the airbag randomly fire with an airbag warning in a 2019 RAV4?

A warning message came on this evening saying 'SRS Airbag System Malfunction'. Coincidentally, I have an appointment at the dealership in four days for a couple of other things, and I'm wondering if it's safe to wait till then to get it taken care of, or if I should go in for an emergency appointment tomorrow. I plan to drive slowly and cautiously since I imagine the airbag might not fire in an accident. My biggest concern is actually that the airbag might go off at random, even without an accident. Is that a possibility?

Also, I looked up recalls for my VIN, and don't see the big airbag recall listed, but is it still possible that my car is included in that? Wondering if it's something that Toyota should be paying for. Thanks!