Hit and Run New Jersey

I was stopped at a light facing TONNELLE Avenue in Jersey City. About to drive up the hill towards JFK. A truck came around the bend behind me on my right side and hit the back passenger side of my car and stopped. He looked back, so I gesture for him to stop and avoid further damage. The light turned green and he took off, scraping my entire passenger side, denting and breaking parts of my car. He made a right onto TONNELLE and I thought I saw him put his hazards on and I anticipated him pulling over out of traffic (which was naive of me). He kept going and there was no safe place for me to pull over (even if he wasn’t going to). Suddenly, we are both stopped at a light just before Pulaski skyway entrance and 139. I get his license plate number and the truck company written on the side of the truck. I rolled down my window and before I could even think, he yelled out “I don’t give a fck!!… and #%^%!!!….” When I could pull over, I was just about home in Jersey City. I called the police and every number I called told me to call another number. Eventually, I went to the station nearest to the hit-and-run and they told me to fill out a self reporting form. I’m only hoping that I am filling out the correct one because there are three self reporting options.

Any experience with this or advice? This was two days ago. I’m worried that I am not completing the form correctly and I don’t wanna screw myself. It’s asking for the insured owner and select insured owner is the insured driver, insured owner is the driver vehicle one, insured owner is the owner of vehicle. One insured owner is entered below. More than one of those is true….

Any advice on the situation or form would be amazing.

1. Worth reporting the driver ?
2. I didn’t think I was leaving the scene. Will I be in trouble if I explain ?
3. Not sure if filling out this form is going to help or hurt me. Those insurance options are confusing as well. I also drew a diagram of the accident hoping it will clarify, as their options weren’t really applicable.

Thank you