Got hit by an Amazon Truck Driver need help

Hello, I am looking for advice to proceed with my insurance claim

Long story short. I got hit by an Amazon truck driver in my neighborhood today. The truck driver made a sharp turn and slammed into my front bumper (side of it). There is some damage to my car im thinking around that 2-3k range. I reported no injuries when the police arrived but hours later, after my adrenaline ran off, i am feeling some back stiffness and neck stiffness. Should I go to urgent care to get it checked out? It does not hurt too bad at the moment but I know back injuries are nothing to play with. I am in florida which is a no at fault state. The police officers did NOT write anyone a citation nor did the submit blame to any driver. The amazon truck driver claimed that I was distracted (which I wasn't) and claimed to have dashcam footage (while on the phone with his manager) but did not show the cops.

The cops ultimately said it was a he said she said incident and let us both drive off (with each other's info of course). This just happened today past business hours so im planning on going to urgent care tomorrow and calling the insurance company to report the accident. I am looking for advice and steps that will help me going forward. This is a trillion dollar company I am just worried insurance will say no one is at fault. Any advice? I can add pictures if you guys need me to.