Got hit while driving

I feel like a silly billy. I work in insurance and today after so many years of dealing with claims. I do not know the answer to my own question. Because it’s with a different company.

I got hit by another driver. My and his vehicle are fine. They have very minor damage. Like you hit a curb type damage.

He on video is at fault for he was driving on to the oncoming traffic and drove into me.

Now I have great limits and know to go to the doctor but I’m scared because I do not have health insurance the delayed doctors follow up might be an issue.

Can I even go to the doctors now? My back is radiating with pain.

I took pictures made him come file a police report with me.

I do not know what else to do.