"[It's about] building a mindset of being dominant from the start and not waiting to be dominant," Defensive Coordinator Vance Joseph said.

Head Coach Sean Payton said he hoped Jeudy's injury was "not anything long term."

The Broncos' ongoing joint practices against the Rams may be less about how Denver starts and more about how the team finishes.

"There's still some competition in positions that are undecided," Head Coach Sean Payton said Tuesday. "I think this week will be important for some of those spots."

McLaughlin has made the most of his opportunity as an undrafted free agent, scoring three touchdowns in the preseason.

Wide receiver Brandon Johnson, tight end Chris Manhertz and running back Tyler Badie also returned to practice.

"I truly feel like if I'm out there for 17 games-plus, I'll do what I need to do," Gregory said. "And that's the plan."

The Broncos' starters should see more action when Denver faces the San Francisco 49ers on Saturday in Santa Clara.

Mims Jr. has embraced his roles as a receiver and as a returner during training camp.

"He's got tremendous hands, tremendous confidence," Russell Wilson said of Trautman. "He can do it all."

Plus, Defensive Coordinator Vance Joseph explains how inside linebacker Drew Sanders has made an immediate impact.

In the midst of 11-on-11 action on Tuesday, Dulcich sprinted off the line of scrimmage and down the middle of the field.