Burton sat out the Bears' season opener Sept. 5 against the Packers after being limited in practice during the week and then testing the injury in pregame warmups.
"I feel better this week than I did last week at this time," said coach Matt Nagy. "That's by no means saying that he's going to play. I'm not saying that, but what I'm saying is I definitely feel better today than I did last week at this time."
Burton is expected to once again test the injury before Sunday's contest in Denver.
"I want to be able to see his feedback on how he feels," Nagy said. "I know he felt good last week. He felt good, but we just felt collectively [he wasn't ready to play].
"He's not going to just tell us whether he's playing or not. We're going to all work together, so we'll see how he looks out there when he gets to that point and hopefully he's good to go, and if he is we're prepared. If for whatever reason … he's not ready to go, that's not going to affect our game plan. We're still prepared."
Goldman returned to practice on a limited basis Friday after sitting out Thursday's workout with an oblique injury. Nagy confirmed that the 6-4, 320-pounder will travel with the Bears to Denver. Goldman is an integral member of the defense who excels at both stopping the run and generating pressure on the quarterback.
Nichols is often listed as questionable after the Bears limit him in their final practice of the week; the workout is held on artificial turf inside the Walter Payton Center and the team wants to save wear-and-tear on a knee he's had issues with.
For the Broncos, starting right tackle Ja'Wuan James (knee), inside linebacker Joseph Jones (triceps) and fullback Andy Janovich (pectoral) did not practice Friday and have been ruled out of Sunday's game. Cornerback Bryce Callahan (foot) and inside linebacker Todd Davis (calf) were limited in practice and are questionable.