[Heel n Toe]

Seems like the best option in a case like this would always be to call your insurance agent/company and lay it all out for them and ask what they think you should do.

If you have a smart phone and can take a few pics, they may ask you to do that and send to them.

I think once you extricate yourself the way you did, you lose the opportunity to file a claim on the full/extra damage (which you already know), some of which you caused, because there's no way to prove to your insurance company that it wasn't all done when you hit something.