Very glad to hear you're ok... What did the police have to say to the other driver?
Good luck with everything... It's almost a four letter word advising getting an attorney, so I won't do that. I'll just say enjoy dealing with the various insurance adjusters yourself... Hopefully you get one of the exceptions

Do go to the ER soon... Like today... And complain about whatever is sore. NOT to sue them. NOT to set up a claim. ONLY to protect yourself. You might be feeling fine today, but tomorrow you could sneeze and feel like hell. Insurance companies will naturally blame that on the sneeze.
It is perfectly reasonable for you to go see a doctor just to make sure everything is ok. You shouldn't feel bad about asking their insurance to pay for
that.