Unfortunate situation - good to hear to were able to walk away - now from personal experience:

#1 - hire a lawyer

Now, go to the hospital / walk in clinic - and get checked out -

#2 - listen to your lawyer - do not feel that you are taking advantage of anything. They approached you and offered to fix the immediate and visible concerns. In reality, they are trying to stop a potential lawsuit that you are ENTITLED to due to the negligence of the driver. In addition to equipment replacement, pain and suffering and emotional duress come to mind. This is something you will not forget and hopefully, it will not cause nightmares and panic attacks.
Now they call it PTSD and it stays with you forever - you eventually learn to live with the memories and be at peace but it is not necessarily an easy path.

Please, please, call a lawyer and at least talk to one.

Good luck, Dave