Traction Control Light On (plus a noise): Is it Okay to Keep Driving?

The Traction Control System Light in my 2014 Nissan Xterra has been coming on periodically for months. It generally stays on for hours or a day and then goes out and disappears long enough for me to forget all about it until the next time.

However, this time it's been on for 2 days and yesterday while I was driving, I heard a brief (1-2 seconds) "grinding" noise/vibration and the traction control light blinked several times at the same exact moment. Then the noise stopped and the light stayed on but returned to a steady light and I drove straight home. That's the first time that's ever happened.

I happen to be between mechanics and it's a weekend of course, so every garage is closed but I'm leaving messages. I'm not sure if I should call in sick on Monday and spend the day calling mechanics and hoping to get in (although same day seems unlikely) or if I should just drive to work and make calls from there to schedule it for another day next week. Obviously I will try to get in somewhere ASAP.

My biggest concern is whether or not I should drive to work on Monday, it's about 30 miles each way (curvy back roads and one main route but no highways, if that matters). I don't know if it's a worn bearing or something else, but I don't know anyone personally I can ask. Please be nice, I'm here to learn and I appreciate any input.