I couldn't count all the times I've stepped on, sat on, or laid on one of the kitties tails/feet. They must be made a lot sturdier than we are! If someone stepped on our fingers they would be broke in a heart beat. Usually within an hour or two they are back to normal. I check periodically throughout the day and the next week if I really stepped on someone's paw. If you pinch their paw they might squeal and pull away, but if you give it an hour or so they shouldn't-as long as you didn't break anything. One of our kitties is blind and she gets her paws/tail stepped on much more than the other kitties. She thinks she has to be right by your feet when you're cooking.
I was clipping all of their claws tonight and one of our cats bit the heck out of me and squealed when I tried to pinch one of his claws out. Neither of us stepped on him, so I'm not sure what happened, but I'll be doing the pinch test on him periodically to make sure he's healing.
I wouldn't worry too much. They aren't pansies like us humansMy Enzo will let me stand/sit/lay on his tail without doing a thing. I only realize when I feel something pulling under me! Just keep an eye on your kitty and do the pinch test!
Oh, and they won't keep limping unless it's really really bad. They are excellent at hiding their sicknesses because in the wild they would be the first ones picked off by a predator. That's why you need to do the pinch test, and feel each toe to make sure the bones are working right.