What are my rights to report a car accident after the fact?

Question Details: While driving on the interstate today an object from the semi in front of me came loose and I was unable to avoid hitting it with the front of my car. Semi stopped and I wasn't really concerned until I saw that my bumper was broken. Driver didn't want to call police and talked me into going up the road to meet his boss and get insurance info. Boss wanted to pay for damages but said my bumper didn't look like it had been broken by object because paint wasn't on bumper like other parts. I started to doubt myself and said that I didn't know but don't recall it being broken before. Agreed verbally not to make report and left, changed my mind 1 hour later. called boss let him know and headed to police station. Am I wrong in making the report?

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