I can empathise with the driver - insurance companies _are_ all gits. But at the same time, there's a reason why insurance is mandatory. Reporting an RTA is a legal obligation, and not doing so may well screw you later. Settling up without getting insurance involved may work out better for all concerned. But don't assume that because you feel fine (and you have a damaged bike to remind you that it wasn't trivial) that you're right.
That's an interesting one.
Arguably this driver poses a greater risk on the roads than the insurance company(ies) know about (assuming the insured does not report the accident to his insurer). Therefore he is getting cheaper insurance as a result and we are all paying that little bit more. Perhaps, if the insurance company knew about the incident, the driver may well struggle to get insurance (we don't know how many previous accidents the driver has had) and therefore not be able to drive in the future, thus removing the risk from our roads. Or (if his insurance increases) may driver a little more carefully in an attempt to reduce future premiums by not having another accident.
Now, that's an idealistic scenario, and I'm not sure what I would do in a similar situation (assuming I am the cyclist).
BTW-insurance companies are not "gits", they are in the business of making money subject to a lot of financial regulation.