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Keeping accident off insurance — what do I actually need to do legally?

So I got into a fender-bender about three days ago. Nobody was hurt, both cars were driveable, and the other driver and I are on decent terms. We exchanged info at the scene and kind of mutually agreed we'd just handle it between ourselves to avoid our rates going up.

Here's where I'm at and what I'm trying to figure out:

The reporting question: I looked it up and apparently my state has a threshold where if property damage is over a certain dollar amount, you're supposed to file something with the DMV or a state agency. I'm pretty sure my damage clears that threshold when I look at the estimates. Does reporting it mean I automatically get points on my license? Like, does reporting = at-fault finding? Or is that a separate process? And honestly... what actually happens if you just don't report? I don't want to do something illegal but I also don't fully understand the consequences.

The private settlement piece: The other driver seems chill and we're thinking we'll just split the repair costs since we're both kind of at fault for how the situation played out. But I've heard stories where someone agrees to something verbally and then later changes their mind and goes after the other person's insurance anyway — or worse, threatens legal action.

Should I be drafting some kind of written agreement? Does it need to be notarized or can it just be a signed document we both keep copies of? I don't want to spend money on a lawyer for something this minor but I also don't want to get burned later.

Any experience with this kind of situation appreciated. I feel like I'm overthinking it but also don't want to make a dumb mistake.

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