Baby fell off of bed

I have a 4 month old who is going through terrible sleep regression, we usually do not co-sleep but he will not go to sleep unless he is up against me. So this morning I dozed off while he was sleeping with me and woke up to the sound of him falling off the bed. He immediately started crying and I immediately picked him up and just held him, a bit in shock. He was soothed easily, started eating and afterwards was back to his happy smiley self. I called his pediatricians office and they gave me a list of what to look out for and he doesn’t meet the criteria to be taken in by any means but I’m still terrified that there’s something wrong and we aren’t going to catch it in time if I don’t take him in. What would y’all do?

Please no rude comments, trust me I’ve already been hard on myself.