Is this insurance fraud?

I got in a minor accident with my friend with both our cars and we had friends in the car too but they were ok. we told the insurance about the crash and we both told our insurances we knew eachother. but we decided we wouldnt go on our claims becuase it looked suspicious and didnt sign anythin our insurance sent us like work compensation or medical bill and are not going for money or a settlement. we would just pay it ourselves. so can we get charged? do you think it would be better if i got rid of the claim?

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