It isn't too late to file a claim
, even if you and the other driver agreed not to, since your insurance policy is intended to cover you after an accident. If you are considered to be at-fault in the accident then your company should pay for the damage caused to the other driver. It's even possible that you may be reimbursed for your own repairs if you can show proof of the damage to your vehicle from before the repairs were made. It's in your best interest to provide as much evidence from the accident scene
as possible to help your insurance company make the correct fault determination.