Help please!!!! Got rear-ended from this acura tsx. What to do?

[GargolaXV]

This is the first time the X gets into an accident! The guy was in a hurry cutting off cars and before he noticed the car in front of him had stopped which was me. Thankfully everything is fine health-wise now the bottom part of the car got messed up, like the exhaust pipes terribly damaged along with the bumper which surprisingly stood in place but got cracked. Now i gotta get an estimate but is not only the body thats messed up so should I call the dealer even thought its not under the warranty anymore? I just dont wanna take it anywhere