Peyton Manning walked off the field Friday without a limp or a grimace. The right thigh injury that required treatment and rest on Thursday has improved. The Broncos listed Manning as a limited participant in Friday’s practice, but the quarterback easily exceeded Thursday’s activity when he departed after team stretch.

“He looks good to me. I am sure he will be ready to go,” receiver Demaryius Thomas said.

In the limited opening viewing period, Manning appeared sharp. He made multiple spot-on throws, including several to tight end Julius Thomas, who is closer to 100 percent than anytime since hurting his left ankle at St. Louis. Coach John Fox said that Manning is “day-to-day,” while noting his improvement.

Running back Juwan Thompson (knee, hip) joined Manning as a limited participant. Linebacker Brandon Marshall (right foot sprain) and Paul Cornick (right turf toe) sat out. Neither is expected to play Monday.

While the Broncos clinched their fourth consecutive AFC West title, they have motivation to seal a first-round bye. Playing on the road in cold weather against a playoff-caliber team feels like a postseason appetizer.

“It definitely feels like a playoff game,” Thomas said, echoing comments made by defensive end DeMarcus Ware and defensive coordinator Jack Del Rio.

Footnotes. Terrance Knighton won the Darrent Williams Good Guy Award for his professionalism with the local media. …

Offensive coordinator Adam Gase said the Broncos didn’t switch to a run-heavy attack last week because of Manning’s illness. “They came out in different personnel than expected,” Gase said. ….

Gase said he has no problem remaining committed to the run even as Denver struggled for tough yards the past two weeks. “The key is that we not have back-to-back zero gains that put us in third-and-long,” Gase said.

Troy E. Renck: trenck@denverpost.com or twitter.com/troyrenck