Coach Ron Rivera said both players participated on a limited basis on Thursday.
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Rivera said earlier in the week the 33-year-old Allen was "doubtful" for Sunday’s NFC championship game against the Arizona Cardinals but said he may be elevated to questionable depending on how he feels Friday.
Stewart ran for 106 yards and two touchdowns in Carolina’s 31-24 win against the Seattle Seahawks last Sunday after missing the final three regular season games with a foot injury. Rivera held Stewart out of practice Wednesday as a precautionary measure.
Everyone else practiced in full practice for the Panthers.