I did something similar once, got out and checked no damage to hers, I had a small crack in my number plate but not sure if that was already there. No damage so said sorry and we both went on our ways.
However another time, no damage to hers, just my bumper and light because of her towbar. Exchanged details, and next thing she wants compensation for depreciation of her £300 Cavalier and £200 for physio for her "whiplash". Told her to f**k off and do through insurance, god knows what was next on her list, £££ for not being able to work because of injury etc, so not worth the risk.
I think you'll be ok though.