You're probably fine.
If you want to be 100% sure, pull the bumper (or have it pulled) to insure no broken clips, crushed styrofoam, etc.
Little bumps like that rarely amount to anything in terms of damage.
You might also check the bumper carefully for evidence of subtle indentations in the plastic from the other vehicle, but otherwise, I wouldn't worry.
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Enjoy it. Destroy it.
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