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Signed something at the scene after a fender bender — now I'm worried I gave up my rights

So this happened a few weeks ago and it's been eating at me. I got rear-ended in a parking garage — not a huge crash, more of a slow-speed bump that left a scuff on my bumper. The other driver was really apologetic and friendly, and honestly I was kind of in shock and just wanted to get on with my day.

He pulled out this handwritten note on a piece of paper — I think it was a page torn from a small notebook — and asked us both to fill in our info: names, plate numbers, phone numbers. Fine. But then there was a line at the bottom that he wrote out himself, something vague about both parties being "satisfied" or "resolved" at the scene. I signed it without really reading it carefully. He signed it too and we went our separate ways.

Now, like two weeks later, my neck has been really stiff and sore, and I'm starting to think it might actually be whiplash catching up with me. I went to urgent care yesterday and they want me to follow up with a specialist.

Here's what's freaking me out: did I sign away my ability to make a claim? It wasn't anything official — no insurance company letterhead, no notary, nothing printed. Just this handwritten thing two random people cooked up on the spot. Does that even hold up legally?

I never filed a police report either, which I now realize was a mistake. I do have photos of both our cars and a text thread where he admitted fault right after.

Has anyone dealt with something like this? I really don't know if I torpedoed myself.

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