Unknown AirTag Detected While Driving?

I got one of the “unknown air tag detected with you” notifications while driving today. I didn’t notice until I got home, and probably wouldn’t have thought anything about it if it only pinged once. However, it was first detected at 5:19PM and last detected at 5:39PM. It pinged three times, once in the east end of my city, and then once close to my house (in the south) and once right outside of my house.

I noticed when I got into my home, and went back out to go see if my phone would detect it in my car, and it didn’t. I then drove around, and got no further pings.

Should I be concerned about this?