Baby fell off changing table

I am the worst mama EVER. I turned my back for a minute and he rolled off. I watched him fall straight on his back. I just want to crawl in a hole. He cried for maybe 10 seconds and has been completely normal ever since. No bumps, bruises, indentions, or red marks. He fell onto carpet. I can’t decide if we should make an ER trip especially with COVID19 😫 I feel terrible.