I was hit while in a parking lot as well. Was the other drivers fault, 100%.
No huge damage, and she didn't want to go through insurance either.
I knew she lived in my neighborhood (kids went to same pre-school) so I semi trusted her.
On the advice of a friend in the industry, I wrote up a letter saying she was 100% responsible, would pay for all costs associated with the repairs (including car rental) and that she nor I would never come back later to seek further damages once this was settled.
I don't know how much weight that would hold if we ever had to use it, but I had her sign it, took pics of her license, and she paid. Was actually great about.
If it was someone I did not know whatsoever though, I'd never do it that way again.
tl:dr: Go through insurance
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