Emergency vet or vet in the morning?

Hi all! I have a 3 year old Aussie who does not have any prior injuries. I was in my room and my roommate was playing with him inside in the living room. A short while later I noticed he was limping and avoiding putting weight on his back leg. He let us look at it and didn’t whine or yelp while we touched around all around his leg/paw but did pull it back when we touched his paw. When we asked if he was ready for dinner he jumped up and limped into the kitchen and held his foot up the whole time he ate. After eating he came back to the couch and is laying down now but keeps kicking his hurt foot out / raising it up and laying it back down. Should we go to the emergency vet or get an appointment for tomorrow morning? And is there anything I can do in the meantime to make him more comfortable? Either way, we will definitely be going to the vet in the next 24 hours.