Since it is running great just ignore it. Many sane state inspection places ignore emission codes.
Some states you have to fix every code.
It probably needs a new EGR valve or the passages cleaned out. I had a 95 Saturn and it developed a sticky valve which would stick open and cause it to run rough, so I had to replace it.
We have a 98 Ford Contour with 2 EGR codes set, and the car runs great. To fix it myself could require almost hundred dollars in parts as there is the valve, the vacuum switch which detects vacuum going to the valve, and a separate EGR solenoid. And the intake passage could be clogged with carbon. They could all be bad. I just ignore it because the car runs great. It also has catalyst insufficient errors on both sides (v6), about 9 emissions related codes. Just me fixing all that could cost almost $1000, and the car is not worth that effort. The cars only advantage to us is it has 89,999 miles on it. So very low mileage and still look at all the emissions codes it has. Ridiculous Ford engineering. It is old and the paint clear coat is going. So it drives very nicely, like a new car, but it look like a beater.