It does seem a bit odd that your vet didn't say anything about glucosamine.
I'd put both of them on Cosequin and strongly consider talking to an ortho surgeon about Sugar. Grade 3's and 4's generally do require surgery.
They may have some stomach upset on the Cosequin but most do just fine.
We use the capsules here and break them open on food.
As far as I know, it cannot reverse the damage and things may or may not get worse. It should help strengthen the joint though.
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