I have a 2015, and the same code popped up on mine a couple years ago. Yes, you can drive it, as long as the weather stays above freezing. It was covered 100% under the Emissions part of the warranty. Dealer gave me a loaner truck, they completed the replacement in less than a day. They replaced the entire DEF tank assembly, I believe the heater is integral to it.
I had thought about doing a DEF/DFP delete on mine, but here in TX we have to get inspected every year. Diesel insp doesn't include emissions testing, but I have heard of some inspectors flagging them when it is obvious the DPF has been removed, (sound, smell and visual exhaust). Also, the feds have gone after many of the aftermarket sellers of delete kits and parts, and there is always the threat of the current administration, (which kisses azz of the BS climate extremists), possibly issuing an executive order to crack down on emissions non-compliance. And of course any remaining warranty on your truck will be immediately voided.
Just pointing out some potential issues if you go the delete route. As for DEF cost, I am surprised how little my truck uses. I add one 2.5 gallon just when it gets down to 10% level on the DIC, (around 1,000 miles before speed limiter kicks in), and it goes about 5K miles between jugs. At around $12 or so for Blue Def, not a big deal to me. That $1500 for your delete kit will pay for a lot of DEF. And how much more power is needed? My bone stock truck with 123,000 miles on it pulls my 10,000# race trailer, and the nearly 20,000# 42 Ft Fifth Wheel camping trailer like they aren't even back there. A bit better fuel mileage would be nice, but it still gets WAY better MPG than my gas powered 6.0 HD did, loaded or empty.
Dan "Jim" Moore
Much too young to feel this damn old!!