Yes, a vet visit is needed. Vets in my area are open but it is curbside service.
Techs in masks pick up your critter in the parking lot and take it inside. Have your cell phone charged so the vet can call you from inside with any questions.
When the visit is complete, a tech will bring your critter back to you, along with the bill.
Be sure to wear your mask as well, or the techs may refuse to take your animal.
I know this for fact, as my Rottenweiler picked the worse possible time to need x-rays. I was worried about handing her big self off in the parking lot. I muzzled her for the techs. When I spoke to the vet, she gave me an OBTW, your dog was extremely well mannered. Didn’t even growl when the vet found the source of pain, which thankfully was not her hips.
So get your dog a vet appointment