Yellow Paint on My Car

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Since it was my birthday yesterday, I decided to go for a midnight drive. During that drive, I somehow got yellow paint all over my tires, undercarriage and quarter panel. I got multiple quotes from 3rd party detailing shops ranging from $350 to $600… however, the dealership recommended that I get it fully fixed and go to a collision center. They got a preliminary estimate, and it’s over $3,100. Fortunately, I spoke to my insurance, and they said that it’s covered. My deductible is $500, so it’s probably worth it to go ahead and do the full repair. Anyone have any experience with this?

PS. The collision center has quoted me to replace the muffler completely… do you think my insurance company would be cool if I upgraded my mufflers to a Fabspeed exhaust if I paid the difference?