I would be concerned but not worried at the moment.
The V6 is extremely sensitive to oil pressure problems, and you have, IMHO, a couple of possibilities.
1 - Weak oil pressure warning switch - it is possible to get a plug in adaptor so you can read the true pressure from the oil pressure sender, or try a new pressure switch.
2 - Actual low oil pressure at low rpm
a) partially blocked oil pick up in the sump - need to drop the sump and check/clean
b) worn oil pump - not sure how easy this is to check/change
c) partialy blocked oilways leading to the pressure switch - several quick oil changes may sort this (and a) )
d) badly worn bearings allowing high oil flow so dropping pressure - oil pressure gauge might assist here.
Given that, my approach would be a few quick oil/filter changes .. at 500 mile intervals, then see if I could borrow a pressure gauge adaptor to try and read the true pressure.
If it gets worse and the light is on more regularly, or it sits at idle for extended periods a LOT of damage could occur ..

Just my random thoughts ... nowt else ..
