If it were me and I did not want to but a new bumper this is what I would do.
Pull the bumper off, they come off really easy. Get it back together as best as you can with something that will hold the tear as close as possible temporarily like super glue gel, and some clamps or tape, just something to hold it together so it stays in place.
Put some good masking tape on the outside so the glue does not weep through.
Get a small piece of fiberglass cloth, rough up the inside all over so the epoxy will stick. Mix up some high-end epoxy resin, coat the inside, put down the cloth, coat the cloth. Let it dry
Install lip of choice, if there is a small part still showing a good auto-body shop or dent guy can fix the rest, only you will know its there.
With the new lip on you will be fine, its not like everyone is crawling around on the ground looking at the underside car.
Good luck.
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