If you want to err on the side of caution, no, you probably shouldn't. Bacteria grow rapidly on food, especially meat, that's been left out on the counter, and the toxin they produce can't be destroyed by cooking. 

There's a chance that you'll be fine, and nothing will happen, but there's also a chance that you'll get food poisoning. So, the answer probably not, and that you should put your leftovers in the fridge, so this won't be a problem in the future.
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