Rear ended, should I contact insurance company?

You should report it and have the car looked at by a body shop. i had a VW Jetta, got rear ended, looked like damaged bumper cover only. Shop found that the crush panel below was damaged and there was a dent in the uni-body. $1,500 or so, and by looking at it we both assumed a few hundred $ would cover it.

 

The two little license plate bolt holes in my bumper were ~US$950 to fix. The most expensive part was painting the bumper.

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...with her insurance adjuster present.

 

"…the young lady is nice…" - despite that, I would check with your insurance company, and I'm betting that their advice is that you should have filed a police report . I've been there and I've done that (see threads passim here on PriusChat). I can imagine your surprise when, in about three weeks you get a letter from your insurance company advising that her insurance company is going to file a claim with your insurance company, her word against yours! Nice or not, when there's $$$ involved, look out! Here in NH, you can file a report on-line, which is how I did it - never heard a word more from her insurance company (…or mine!) Good luck!

 

Going to a body shop and asking if there's damage is the same as asking a barber if you need a hair cut.