Don't lie, but don't be an idiot either . You weren't going 55, (that was the posted speed limit) the damage would have been much more than $300, if you hit someone at 55. You did not get charged. No ticket, no fine, no court? You should be good to go, answer the questions honestly, but DO NOT VOLUNTEER. If they don't ask, don't tell.
Listen real careful when someone is talking, take the time to listen, and then answer. Be smart and be safe.
PS - you should have paid for the damage out of your pocket, filing a $300 claim is a big mistake. Insurance companies computers never, ever forget. Hopefully there will never be a next time.
And
Since you're just now getting a CDL, this is the first time your drivers license will be subject to any DOT rules/regs. You will not get any passes with a CDL ever again!