Accident involving injury in work vehicle

In 2024 I was in a minor accident in a work truck, I rear ended someone when they hit the breaks and I couldn't stop fast enough. It was at a stop light so I was going less then 20kmh but I still hit them.

we both got out and looked at the vehicles, there was absolutely no damage and the other driver just wanted to leave, she didn't ask for my name or anything she just drove off. Since there was no damage and the other driver just left I didn't bring it up with my boss.

The next week my boss calls and says the lady called them saying she was injured. I told them what happened and they said ok. I asked what came of it the next day and was told that my companies insurance was handling it and it wasn't anything to worry about since the lady was obviously lying.

Come to now, I am being told the accident is on my driver's record and if I try to change insurance I will get dinged. I looked up to see if there was a police report and there was one done with all my information on it.

my question, should I not have been involved in the police report or the companies insurance investigation at some point? How can I as one of the drivers, the one that caused the injury, not be involved in any of the reporting?