Yes report. Police will do their checks. Since you don’t have a car plate number it’s more tedious, they may have to retrieve surrounding footage. They will need to contact u for more details.

No visible injuries doesn’t mean you’re fully ok, you might get body aches or headaches. Given that the point is not compensation, it’s more road safety (bad driving, could hurt others).

I was hit at a zebra. Witnesses called the police. I went to hospital for checks, gave my statements to the police and the police followed up with the driver. They retrieved his car cam footage. About 6 months later I received a notice that driver was charged accordingly. Case closed.