I've never heard a bear, but I am familiar with the odd sounds deer make, and it could have been a deer. However, your dog is probably a better indicator of what it may or may not have been.
If your dog is spooked enough to back-up against you for protection, either yours or theirs, take it seriously. Dogs are great indicators for things we can't see or hear, that includes types of animals and types of people.
When it doubt, trust your pup.
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