I was rear ended twice in the first year of ownership, both times at traffic lights by distracted drivers. In each case, my rear bumper cover was 'scored' by the bolts holding the front license plate of the car behind me. My parking distance sensors worked fine, none of the bolts hit the sensors themselves. To repair the damage, a new bumper cover would need to be installed and painted, and that was estimated to cost $900-$1200. I never got around to getting the bumper cover replaced, but this spring I removed the cover to install a trailer hitch. After carefully looking at the rear crash bar, I could not find any dent or bend in any of the structures of the car whatsoever. So I still have four little circles on my rear bumper from the two impacts. If the car is clean I can see them, it if is dirty, I can not. I can live with that.
The rear crash protection is designed to collapse in a hard hit. Its possible that yours is damaged, but it seems really unlikely that the plastic cover would be unscathed if there was damage underneath. If the bumper cover looks good, and the rear sensors work, and your trunk opens and closes without problem, I'd guess the car is likely fine.