What lens was it? Do you have other lenses to test?

I'll start off by saying that the "good" one does look a little sharper than the "bad" one, but I'm not sure of settings or lens type. And as Matt said, there are many variables.

If you have another lens, try to test it out at similar focal lengths.

If not, ensure that the lens is cleaned properly. Soap can leave residue and result in 'Days of our Lives' images. (Frosty & soft. Sometimes this is intended and people actually make the lens smudgy). Use cleaning alcohol. Acetone diluted to water, 50/50 is fine. (This can sometimes be contentious as people will say it will ruin and remove the coating, but this won't. I know of a solvent called X55 which works really well and doesn't need diluting.)

Make sure VR is turned OFF and reset the camera through the user menu. Use a tripod or stable surface and move the lens to Wide. Because the sample you gave are reasonably wide, do this on a sunny day, outside. Take a shot at open aperture, then one at f16 (depending on lens, open aperture maybe over exposed).

Then zoom to Tele and do the same. One at open, one at f16.

If they look different, then it shouldn't be a problem. If they both look the same then there could be a problem. It's really hard tell as you might be more familiar with the lens than myself but these simple tests could help.

You might find that the problem is only at wide.

If you're still unsure, take it in for a service/inspection.

Let us know how it goes.