warning light

if it's driving okay, stay on back roads and don't use the a/c

 

That warning comes on for a couple hundred different reasons. For some the answer is "sure, driving carefully" and for some it's "I wouldn't if I were you." And there isn't enough other information in your post to even start guessing which category you've got.

If there's any way to get your hands on a scan tool that can read the trouble codes from a Prius, that would be the best next thing to do. Then, knowing what kind of issue the car is reporting, it would be easier to say whether driving ten miles would be a good idea or not.