There is no visual damage, with the exception of a scuff on the front bumper, where the majority of the impact occured. At first the car squeaked, and I thought I noticed a very small movement in the bumper. But hours later it drove fine, is damage possible, or likely?

Sounds like a little damage MAY be possible.
It should only be the paint, or maybe a crack in the front bumper.
Go under there and see.
You MAY also have some steering/suspension issues.
Take it to a garage if problems appear.
Good luck.

thats pretty fast, was the dip huge? if it wasnt it shouldnt effect anything.