Hmmm...not completely sure of the cause, though you may not ever know, but the leg lifting may just be in his blood. The grooming experience could be the cause or it could be coincidental. Some males lift, some don't, regardless of exposure to other dogs.
But regardless, if yours continues to mark, you'll want to re-do the potty training again to ensure he doesn't mark your furniture (i.e. limit access to where he goes, such as carpeted areas, take him potty more frequently etc). It's super important to prevent this from starting or he'll think it's okay.
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