I've had a little experience with this problem. Had it happen on two similar vehicles.
I had a '96 Olds Achieva with a 3100 that would set an EGR code. I removed the valve and found that the port from the EGR valve into the manifold was completely blocked with carbon. I dug it out with a coathanger wire, reinstalled the valve, and it worked fine.
I also had a '94 Corsica that was doing exactly what you've described of your lumina- the light would only come on occasionally for a few seconds once I got up to highway speed, throwing an EGR code. I took the EGR valve off and checked that port- it was clear. I checked the pipe- it was clear. So I took the valve apart (this is was the type with three solenoids- they're pretty easy to disassemble, but lots of little parts and pieces to keep track of). I cleaned up and lubed all the parts, and put it back together. And I guess that took care of it because the code never came back (the car lasted about 2.5 more years before the transmission died).
But as long as the car isn't pinging (you'd hear it), I really don't think this is a big problem. It won't keep the car from starting/running, and it won't affect gas mileage much. So if you leave it alone, chances are that nothing will come of it- unless you need to pass an emissions test or something.