I'd:
1) Exchange insurance information
2) Call their company right then to confirm active status as well as giving them heads up there might be claim after you get estimate unless member pays out of pocket (you can't call insurance month later and claim old accident).
3) Get estimate at Toyota or body shop using OEM parts.
4) If there is nothing major there I'd take value of estimate in cash and spend it on whatever you want.
The point is that I wouldn't just create a claim if your damage is minimal. It ties up resources, costs member deductible and higher premiums and most body shops will charge hell a lot more knowing you are not paying and don't care how much it costs.