I was in the same situation a couple of years ago. I was touring southern Utah and northern Arizona, when the wind picked up and grit was everywhere. Some of that grit got into my 17-40 lens and 7D body. It was so bad that I could feel grittiness when pressing some buttons or turning the zoom ring. When I returned home, I sent all my gear to Canon for a cleaning.
If I was you, I would certainly do a wipe-down with a damp microfiber cloth. Be mindful of the performance of your camera and pay attention to any "grinding" you can hear when you press a button or turn a ring. If you can hear grinding, you should consider a full professional cleaning.
Just out of curiosity, how much do they charge for cleaning? I would hate mailing my gear out. It makes me a little nervous.
5DMK3, M5, 24-70 2.8L II, 16-35 F4L IS, 70-200 2.8L IS II, 35F2 IS, 135L, 70-200L F4 IS, 600EX-RT x2, 430EX RT, EOS M IR converted, efm 11-22, efm 28 macro, efm 18-150, Fuji X-T20, Fuji 35 F2, Fuji 10-24 F4