If it was me I'd remove the bumper and take it to a repair centre for them to determine if just cosmetic of not then weigh up cost to do it myself or go through ins comp.
Just to show you can't always spot something, years ago I thought I could spot anything on a car.
Someone hit the rear of one of my visa gti's, I thought back light and bumper.
I took it to repair centre and it turned out to be outer bumper, inner bumper, rear panel pushed in which flexed both rear wings out which also broke the bodykit on both side. Both rear lights and also number plate holder oooooof
My 7th gen got hit in france a few months back, while sat at traffic lights a truck went down the side of me on my first day there.
My insurance wanted to go through an iffy garage I wasn't keen on so still went through ins comp but went for a classic car restorer to fix it as I know the quality of his work. Doing it this way I wasn't able to have a courtesy car but I'd rather have it done right.
Car now sold, new owner happy with the quality of the work carried out
As said if it looks possibly only minor take it to a garage first and see what they say, doesn't cost anything in money and only a bit of your time
I major ins all day long but make sure repairer is a reputable company and not a Mickey Mouse one that a lot of ins companies use these days to keep their costs down