I changed mine not too long after the light went on. Its one of the maintenance items a user can comfortably change.
As far as how long can you go, it depends on if you are comfortable walking and have a trailer! If I was going to have a dealer do it I would have gone a whole lot further, a whole lot more miles, probably to the point of either breaking or complaining.
I probably had the wrong idea when I bought my majesty, "since it is a scooter it should be economical to service". Boy was I wrong. Today I don't even consider a majesty a scooter, to me a scooter is still a step thru with a flat floor...no hump. Should see mine where I have the top of hump all scratched from dragging my feet over it. The line between a motorcycle and a scooter has been bent in both directions.