If there's no FIR in the matter, there's nothing to worry.
Had a FIR had been lodged, they were competent to file a motor accidents claim petition in the MAct against you and your insurer. So, if no FIR, there's nothing to bother about.
For any threats that you are receiving, the same are unfounded, and you should report this matter to the Police and ask them to book the miscreants.