What is your definition of no damage though? Body panels can shift, and sometimes the tension can cause cracked paint or stress damage elsewhere in the panel. There can also be micro scratches or marring on the car that becomes more apparent under different lighting.

Check out any car detailing channel on YouTube and you would be surprised how some people define damage.

Just as an example: my definition of damage is different from my friend’s. A friend of mine treats things with little care so a scratch and dent is “no damage” for them since it’s normal wear and tear. As a car enthusiast, micro marring and scratches means I’ll have to polish it out.

As another example, I recently left a gas station and clipped the bottom front of my bumper and heard some scraping noise. But there was no visible damage. Upon jacking up the car, one of the support brackets behind the bottom of the bumper was cracked. And it’s not visible to the naked eye without inspecting.

In short, I think default best practice is to always leave contact info. At this stage, I don’t think it would hurt just to contact the city or town’s local police department to leave your contact info should the owner file a hit and run.