Emissions Light
 

My emissions light comes on after a 2-3 hour highway trip like clockwork. It comes on, after ten seconds the truck shudders / jerks once then runs fine with no issues just the light on. I've taken to the dealer twice but they can never read any fault codes or find a problem. Has this happened to anyone else?
2006 Dodge 3500 5.9 Cummins, S&B air intake and elbow. Turbo back aftermarket exhaust. Newer stock injectors, no engine or turbo upgrades.