I should have thought that was enough time unless there is something different about the Sportage. Our X1 is doing shorter journeys than that without problems. If the warning light is amber and the performance is unaffected, you might choose to ignore it until it turns red! Could be a pessimistic sensor. Or let the engine idle until it’s properly hot and see if the light goes out then. If your car has auto stop-start, you might turn that off to increase engine running time too.