A "tankslapper" oscillation of the handlebars is usually a loose steering head bearing issue.
On a bike that new I expect you are good to ride home without fear. But some bikes just don't take to hands off riding, so I wouldn't tempt fate by trying it every five miles.
'00 BMW R1100RT, '06 Jeep Wrangler TJ
"The object of life is not to be on the side of the majority, but to escape finding oneself in the ranks of the insane." - Marcus Aurelius