sorry if this is gross… but is yellow discharge cause for concern?

i’m ftm in my 37th week, i had an appointment with my midwife a couple days ago, at which i was 2 cm dilated. i just went to the bathroom and saw yellow discharge in my underwear, looked it up and it said it could be an infection, which i don’t FEEL like i have- no funky smells, no uncomfy feelings or anything, or amniotic fluid leaking which it says i need to contact my doctor if that’s the case. it doesn’t have a scent and i haven’t peed myself lol. has anyone experienced anything like this? i just don’t know if it’s normal and don’t want to bother my doctor if it’s not cause for concern!