My 8-year-old golden started limping after our morning walk - should I be worried?

Okay so Maple has been perfectly fine all summer. She's 8 years old, female golden, and we do a 45 minute walk every morning through the neighborhood. Yesterday she seemed a little stiff getting up but i figured she just slept weird. This morning after our walk she was noticeably favoring her front left leg. Not refusing to walk or crying or anything, just kind of holding it up a little here and there.

I checked her paw for anything stuck - nothing obvious. Pressed along her leg gently and she didn't react like it hurt. She ate her breakfast fine, her tail is still wagging, and she's currently laying on my feet like nothing happened. But the limp is there.

Is this something to vet immediately or is a "watch and wait" approach okay for a day or two? I don't want to overreact but goldens are prone to joint issues and she IS 8 now. Also wondering if glucosamine supplements actually help or if that's just marketing fluff at this point.