Depending on the other party and whether they have a sensible head or think there's a multi thousand pound injury claim in the offing, it looks to me like six one and half a dozen of the other.
Only you have met the other party so only you can judge what their response would be, but my gut feeling is that this molehill could easily become an expensive mountain once credit hire bandits and fleece-em lawyers get involved, both of which will make money at the insurer's expense who will want to recoup some from their customers.
I suspect you yourself are unsure who is to blame or you wouldn't be asking the question, so if the other party is amenable i'd be inclined for each of you to get their repairs done at own cost.
If it came to an insurers wrangle, i suspect the reversing driver would be more to blame, but this isn't a clear cut case imho with the witness involved.
No dash cam footage from either?
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