As fizz said, defo go through insurance, you get it repaired on the quiet and develop problems later on you're gonna have zero comeback.
I nearly got rear ended in my car recently, was in south Wales, came round a corner in my golf and a pick up truck was parked, cutting tree down, I stopped with no drama very easily, Cupid stunt behind in a dropped to the floor Honda civic didn't see traffic had stopped so panicked, locked up and sliding all over the place, I seen what was happening and pulled forward, the civic stopped with 5 ft to spare, if I hadn't moved forward he would've hit me then put me in a place he didn't wanna see
Glad you're ok anyway dude.