Question about a non touching incident on highway

In Florida

I had a non contact incident on the highway, where I was cut off but no collision. I pulled off to the shoulder to avoid a collidion. There was no damage and they other driver didn't claim they were hurt. I was late for work and under Florida law I was under no obligation to stay. The other driver was also getting aggressive. The other driver claimed injury later and used her pip then got a lawyer.

Insurance took months, after I had sent pictures, took the car to the adjuster and agreed to an investigator looking at my car. They finally closed the case with no payout, and that there was no contact.

What does this do to my insurance? There was a claim so I don't think I can just have it taken off completely, but it was essentially fraud.

I was in a position where I would be insureable by my next policy in January with 2 or 3 accidents coming off, two will be over 5 years old and 1 will be over 3 and I was successful in changing it to a not at fault accident after several years.

I''ve definitely developed better driving habits since then. The sticker shock of having to get state run insurance set me straight.