I'd just cut it off, have a new pipe made and weld it on. Will be easier than trying to bend it back. As stupid as it sounds, if I were the OP Ida stayed a little in the road. I know the situation you were in, usually like that at work lol, and I just pull a little into the road and wait til people are gone. People will go around before they go into you. At least for me anyways.

 

Well i got the call and it cost 987 bucks to get a crack fixed and a tailpipe indentation on the bumper. Looks like I'll be working 2 jobs soon. FML.

And yeah, if i backed into him and drove away, it would be a hit and run, and there was no way i was going to do something of that nature even though i wanted to.