Is a claim and/or report necessary?

Today during a zipper merge a car lightly rear ended my car. She was pulling up close to the car in front of her in an effort to not let us through. My fiancé was driving my car and knew it was our turn so he continued to merge. We merged in front of her and she pulled up right on us and hit us. No damage at all to her truck and mine has minor scratches. She started crying and was super overwhelmed…I go to look at her license and she’s 17 and has been driving for less than one year. Ugh. Just a literal kid. Part of my heart empathizes bc I work with teens and I understand they aren’t always thinking straight ….Anyway, we exchanged information but I honestly don’t want to make a big deal. What should I do next? Should I have the damage assessed to see if it would even merit a claim (which I doubt)? Do I legally have to file a claim to report this accident? Thankfully I haven’t been in an accident in decades so not sure what my legal responsibilities are. I’m nervous about inquiring with my insurance company bc it may trigger something crazy for no big reason