"There wasn't passing traffic, presumably the lights had just been changing, but I managed to just clip the door mirror of a passing car."
Not quite sure from that sentence what was and wasn't passing.
In any case I think you have a right to check what's in the driver's insurance policy (he may be trying to protect his NCD): there must be extra exclusions (compared with a private policy) for taxi use but you need to know whether damage caused by a passenger is among them.
If it got as far as the small claims court, you might have a persuasive argument that the driver accepted the risk by stopping in a busy road when you had presumably been willing to finish the original journey to the back road.
Last thought - can the driver prove that the dent wasn't there before? Would a clip from a mirror cause the 'big dent' that you mention?
Don't accept liability unless you have to.
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