To add another data point, I'm having the same issue on my new 2019 V7 III Stone Night Pack (what a mouthful!). I bought it from the local dealer here in Tucson in late January this year (2021). The first time the CEL came on was after I let it idle for way too long while chatting with a friend on a warm morning. I noticed leaving the parking lot that the light hadn't gone out. Went for a couple of hours' ride, still on when I got home. Called the dealership the next morning, but when I started the bike to ride over, the CEL went out as usual. They were busy and said they weren't sure whether it stores codes, and obviously didn't want to take the time, and I didn't press it. That was with a couple hundred miles on the bike, in early Feb. Second time was a few days ago after a ride up Mt Lemmon just outside Tucson; the road goes up to about 8500' there so quite a bit of pressure and temperature difference. The light came on as I was getting off the mountain and back into town. Next morning it was still staying on, but when I took it out for a ride in the afternoon, the CEL went out as usual and stayed out. I wonder if there's a 24hr timer on the light. The bike has run perfectly throughout all of this, btw - except for the evap canister issues, but that's another story, and is fixed.
I called the dealer after I got home with the CEL on and they booked me in for a diagnostic a few days later. I warned him that the light might reset and he said no worries, it'll store the code and we'll run the diagnostics. Go figure.
So, I left the bike off with them and they pulled the data off the computer - naturally it does keep history and they retrieved the codes, P0150 and P0130, right and left lambda probes (O2 sensors) respectively. They wanted to keep the bike another day as Piaggio asked them for more data. Then this morning I got a call, they've managed to accidently erase the history! Oops. So I can pick up the bike and please bring it in when the light comes on again. Oh well - at least I've confirmed my theory that it is indeed the O2 sensors. Still an issue it seems.