For uninsured motorist claims, it's likely that your insurer would want a police report of the incident. What I don't know would be if it would be possible to still get a police report and redo the claim.
While your agent could certainly help advise you about whether or not to make a claim, it's possible that they could report the potential claim to their underwriters who may follow up on it. At-fault accidents can add a considerable amount to your insurance premiums, so you definitely want to be careful about filing.
The best course of action would be to call that insurance company and request all paperwork associated with that claim. It should show as a zero dollar payout, which you could show to other companies to dispute the claim.
As long as the claim happened during the duration of your policy, it is covered. You have no obligation to keep insurance until the payout occurs, so even if you've canceled it, your insurance is still responsible for processing the claim.
If your insurance company has deemed your vehicle to be a total loss, you can expect them to pay you the actual cash value of your car minus your deductible. See more about total losses in car insurance here.