I had an entirely opposite experience. i rather gently rolled into a car in front of me. We both pulled over, looked but couldn’t find a single scratch on either car.
The woman said OK I guess nothing is wrong but I better take your information just in case.
I said OK and I gave her business card. About a week later I got a call from my insurance station telling me that I had failed to report an accident! Not only that, but an accident with thousands of dollars of damage! That is a very serious thing.
I explained to my agent exactly what happened and I don’t know what the insurance companies did, but I never heard anything more about it. There was no surcharge, nothing, but oh boy that was scary.