Code 32 is in fact an EGR system fault. From the SES core you can not tell if it is the valve itself or the solenoid control circuit. A proper scan tool can distinguish the code further to tell that. However, It is also a fairly simple diagnostic procedure to find out which it is. EGR is one of the more common failures. It likely is a real fault. you will likely find that by disconnecting the battery to clear the code, It will return in a short time. The computer will have to run all its tests again which can take a few full drive cycles (full cold engine to fully warmed engine) before it reappears. If there is a hard fault in the system, the light could come back on, on the first cycle. EGR system is usually a fairly easy diagnostic and fix.
As far as driving it, you may notice a decrease in gas mileage, and certainly the emissions will be way out of whack, over limits. But you won't harm anything any further. You are just not recycling any exhaust gases.