I didn't tip my professional sitter that I used for 6 years, and that seemed no issue for her.
I sometimes brought her something, if it was a multi week trip I sent her a post card, I always sent a holiday card in Dec with something $ in it.
Once, it was a very short notice, I had to go in hospital and that time I did give her something extra as she fitted me in; her contract always said she needed xx days notice (can't remember what it was now).
Hope this helps!
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