Small accident, No police report

[RyTechGuy]

About a month or two ago I very lightly (less than 5 mph) rear ended another car while pulling up to a stop sign because he pulled up quickly then slammed on his brakes. There was very little damage, no dent, just a small paint chip. The police were not called and my insurance was not notified because of the very small visible damage. I gave him my information but i didnt think he was going to come after me. Then I get a voicemail recently that his estimate from the dealership is over 600 dollars in damage. I personally think the guy is trying to get over on me and my question is, can he still try to sue me if the police were not notified? if so, does he even have a case? how do i know someone else didnt hit him after that? I was in my fathers car and I dont think I am covered on his insurance so what would be the best course of action for me to take?

 

[RyTechGuy]

also wanted to mention my cousin was in the car as a witness

 

[creative3]

I'm almost in the same boat as you