I fell at 31+6, do I need to go to hospital? Help please!

So I just want to get some advice and opinions from you awesome people.

I’m exactly 32 weeks tomorrow.

Last night, I had a movie night with my hubby and I have two dogs, a Pomeranian and a shih tzu.

What happened - basically I was upstairs changing into my pjs, I picked up the Pomeranian (she is elderly and blind so can’t do the stairs anymore so we have to carry her and my hubby was already downstairs loading up the movie).

My shih tzu has this habit of sleeping on the stairs in our house, she doesn’t like being right at the top or the bottom so she tends to go half way and then lay down on a step in the middle somewhere.

I came downstairs, carrying the Pomeranian, and I tripped over the shih tzu who quickly jumped up and ran out of my way. But in an attempt not to stand on her and hurt her, I fell back into my butt, keeping tight hold of the Pomeranian so I didn’t drop her down the stairs.

I didn’t feel any pain, but I sat on the stairs and cried, I think mostly out of shock that I scared myself and fear that I may have hurt the shih tzu but she is totally fine.

So I calmed down, watched the movie and we went to bed. This morning when I woke up I noticed I was a little stiff/sore, in my lower back/upper butt cheek area. There’s no bruising and I definitely haven’t broken any bones.

When I woke up I went pee and lost a piece of my mucous plug, it wasn’t bloody so I didn’t think much of it because I’ve lost a few pieces in previous weeks and been told it regenerates so isn’t really worth worrying about unless it’s bloody.

I had a hypnobirthing course today with hubby which was an all-day 6 hour course and when we came home I felt super tired and just wanted to nap, but now that I’ve woken up from my nap I feel super paranoid.

Again I’m not bleeding, I haven’t had any gushes of water, or even a light trickle - so I know I didn’t break my waters. I did feel some movements during the course, particularly whilst doing the pregnancy yoga, so assuming baby is still healthy and happy in there.

Do I need to go and see a doctor? I have a home Doppler and baby’s heartbeat is totally fine and within normal range. I’m just anxious that I fell at this stage in my pregnancy, but I know that baby is well protected in the amniotic fluid and I didn’t fall forward onto my tummy, I fell backwards onto my butt so I didn’t think much of it last night.

What do you think? Would you agree that I should be fine to hold off and only go to the hospital if I have any bleeding or if my waters break?

Added note - I have a 32 week growth Scan booked at my hospital on Wednesday, so again I didn’t think it would be worth rushing there if I’m gonna be there soon anyways.