Could have been stridor, sounds more like she swalloed a grape that was too large and it got temporarily stuck but she managed to swallow it.
If it were me, give the kid the works (full respiratory workup, SPO2 etc) and if the parents seems amicable to the idea we could leave her be at home.
I know people who have transported kids who are otherwise fine just because the parents are so worked up sooo I wouldn't overlook it.