would the concensus on here be to go straight through my insurers or see if they want to pay me out?
Glad your ok, but remember the rule, "If your cannot see the vehicles mirrors the driver cannot see you!.
Some sound advice on here, but I really hope that you have a good independent witness to the incident.
Get the haulier to pay for the repairs and don’t tell the insurer, it’s fuck all to do with them.