If reCaptcha3 token is generated on page load then it’s not practical as it times out in a few minutes, therefore the form submission will fail. Better to generate it on form submission like that.
var webQueryForm = $('#webQuery');
webQueryForm.submit(function(event) {
e.preventDefault();
grecaptcha.execute('MYSITEKEY(PUBLIC)', {
action: 'contact'
}).then(function(token) {
$('#recaptchaToken').val(token);
webQueryForm.submit();
});
});