notmer,
Really sad about the accident - at times like these, you have to harden your heart against the damage to the car, and count your blessings that you're safe - unlike the other two guys.
Looks like you're decision to drive the car away was natural, given the atmosphere of the people building up after this accident.
Of course, driving the car for too long was not a good idea - but then, we only learn these things the hard way - there is really no one to tell us what to do. In some countries - any accident, major or minor - and the vehicles are left on the exact spot - even in the middle of the road - till the authorities come to to inspect and tow away.
I don't think you should tell your garage guys what happened - as per how it happened. The best way to get your insurance to these things without hassle is to tell them this -
your car was parked safely and you were hit from the back/side by this vehicle whom you didn't see. after looking at the damage, you decided to call your friend who lived nearby and you pushed the vehicle to his building, from where you must get it towed to the workshop.
this works if there is no fir etc lodged with the police - and you don't lodge any...
that way - the insurers won't find any excuse not to pay all damages to the car -
and IMO, abs only helps when you are braking and steering at the same time - to keep car in control. in a straight line, as in your case, abs wouldn't have done much good...
all the best -
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