There has to be some kind of evidence that the impact caused injury. No damage to vehicles, so what do they have? Their word? What was the speed of the impact? 2? 10? 0? If it was me I would ask the people for doctors reports, estimates from shops about damage to their van etc.
Not many shops will put their neck out and say a hubcap is falling off and there are brake problems from an impact that caused zero damage to either vehicle.
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