Safe to drive with cylinder 1 misfire p0301? - 2011 v6 (includes history)

Had my 2011 RS, standard, since it was new. 135k miles.

In 2021, had to replace timing chain at 110k miles. 6 months later same issue, went to dealer (original one I bought car from), they said shop I went to used after market parts and installed incorrectly which caused a bunch of other problems.

Multiple codes, the dealer replaced all 6 spark plugs, timing chain, guides and tensioners, all 4 camshaft actuators and solenoids and all gaskets and seals required, replaced valve cover gaskets and spark plug tube seals, intake manifold gasket, throttle bottle and gasket and jumper harness ($4k)

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I haven’t driven it on the highway in 3 years (just pointing out how it’s been driven recently) and I’ve never beaten on it. Change own oil by 5k miles. Spark plugs last replaced a few months ago at same dealer (as well as cleaning something?)

Car was driving normally until last night at a store parking lot I was at a stop waiting in tight traffic, thought I felt some loss of power and a little shakiness (barely- not like in the past) look down and Check Engine light was on. I immediately got a spot to park and thought I smelled fuel but there was both a hunkajunk car and loud clunky truck pulling out next to me I couldn’t tell if it was coming from my car.

Turned car off, checked under hood, turned car back on and no Check Engine light. I moved over to another parking spot to see how it drove- seemed normal. Did my shopping w anxiety as fast as I could, drove down the street to Auto Zone to check codes. P0301. Drove 15min home normally.

Well today I’m terrified to drive as I don’t want to cause any damage if there’s an issue, even though it was driving fine.

Should I bring to dealer for inspection? Or is there anything I can do? I’m female (not that that matters) and have never worked on cars beyond changing oil and brake pads.