As to your repair: I doubt you impacted the fiberglass from the pictures, but
@Jimmers is right that it can be hard to tell. Even for a shop, until they grind down to start the repair, they may not be able to sell how much or if any of the glass is damaged. Repairing the glass and the gel coat is a different ballgame from just doing the gel coat.
And it looks like you have some pretty good surface area at issue. And you are on a curved surface (the keel). That is more difficult when you do get to the gel coat stage.
I'm a pretty big DIY guy, and have done gel coat (and even a little glass) before (with help from this forum, I might add). If I had never done gel coat before, this one I would take to the shop and file the insurance. Even having done gel coat, I would still seriously consider doing that. This is going to be a big repair.
A word on the water wicking into the fibers: This is true. when the gel coat is knocked off, water can wick into the glass fibers and make its way into the boat. But the concern is not really a 'leak' in the boat that will fill the boat with water. The concern is that most boat manufacturers add structural integrity to fiberglass by laying the fiberglass with a wood base. In those situations, the migrating water comes to the wood and rots the wood. Then you have a hole (effectively) where your wood structure was and the fiberglass fails. Badly.
Yamaha uses very little wood in their hull construction. I believe I have some on my transom. But nowhere near what most boats have. For that reason, I think Yamaha does not gel the inside of their hulls. So I think we have less to worry about on that front than some boats. Not that I recommend tempting fate there, and I would not be putting yours into the water again if it were mine (too big a damage area). But for a little nick or so, I don't think it is anywhere near as critical in our Yamaha boats as with most.