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Possible fender-tap at a yield merge — now the other driver is claiming major damage??

So this happened a few weeks ago and I'm still trying to wrap my head around it.

I was in a dedicated right-turn lane feeding onto a busy highway — yield sign, no stop sign. The car ahead of me slowed down pretty abruptly while I was glancing left to check for a gap in traffic. I hit my brakes and swerved slightly toward the curb to avoid rear-ending them. Honestly, I didn't feel any contact at all. No jolt, no crunch, nothing.

My dashcam was running and when I reviewed the footage that night, the other car is visible the whole time and I genuinely cannot see any collision moment. The angle isn't perfect, but there's no sudden lurch in the video either.

After we both merged onto the highway, I pulled up alongside them and motioned toward a parking lot at the next exit — basically trying to say "hey, should we pull over and check?" They didn't respond and just kept going. I ended up taking the next exit anyway to look at my front bumper. Zero damage. Not a scratch.

Fast forward 10 days: I get a call from their insurance saying the other driver filed a claim alleging I rear-ended them and caused damage to their vehicle and neck/back injuries.

I'm honestly floored. How does this become an injury claim when I don't even think we made contact? Has anyone dealt with something like this — where the other person files a claim and you're not even sure a collision happened? Do I need a lawyer at this point or is this something I handle through my own insurance?

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