Miss and Run?

Precursor: I am shaken up, feel awful and this is the first time in over 10 years of driving anything like this has ever happened to me.

This morning I was pulling out of my complex parking lot. Looked right and left then pulled out to turn left. Before I knew it, I nearly went right into the side of a subaru I didn't even see on the road. He swerved to avoid me as I quickly turned my wheel the other way and he went near the curb into a drain and around me. I stopped completely and he stopped, then kept driving up the road. I was shaken. I didn't even see him! The sun was coming directly from the direction he was driving towards me, and that is the purely only explanation as to why I did not see him. I pull out of this lot 5 days a week and have for the last 3 years. Traffic can go fast, but I have never had something like this happen.

There was no impact, thank god. I thought he was going to pull over and then didn't. I then turned right and down a road as it seemed he was not going to pull over after all. My boyfriend, who was behind me, saw part of it. He said the guy ended up pulling into a parking lot ahead and getting out of his car and looking at his passenger side, not the drivers where I came at him from, which I assume may have scraped the curb or checking if he bottomed out when going over the drain. He said he did not see any visible damage from the road when at the red light and if it was anything it may have been underneath but he did not see the car go up on the curb (he does auto-body). I asked what he thinks I should do and he said since there was no impact, I shouldn't worry and just proceed to work carefully and breathe as I was immediately crying and panicking.

But, I am worried. I know there's such a thing as "miss and run" and his avoidance from missing me may have caused his car damage. Had I known he pulled into the parking lot ahead of me before I turned, I would have as well. I am glad there was no impact and most importantly, the driver is okay. But this is where I am lost. It is possible he contacted the police already and they could be looking into it so I may expect a phone call later, he could have contacted my complex for vehicle description, or…wishful thinking…his car is okay and he is going about his day and just pissed at me.

Should I preemptively contact my insurance and let them know what happened even though there was no impact/contact just in case? I know the lot he pulled into has loads of cameras, but I am unsure how far down the road they span if he does file a report and is looking to identity my vehicle. Should I wait to see if the driver tracks me down? I feel like a total AH and I am honestly worried about driving home and parking in my lot again.

Any similar stories or advice are appreciated. For context this is in PA, which is a no-fault state and I have full-tort insurance. I would like to take any precautions or advice to correct my mistake as the anxiousness and guilt is eating me up.