The answer to the title is almost never 'yes', this is why we all carry insurance, but...
My family was camping at a state park in MI the other week and as we're enjoying our bonfire, someone comes over to our site with my kids and asks (politely) if they're ours. This is a state park where almost everyone bikes and kids are biking laps around the campground until dusk. This particular campground has been this way for decades. One of my kids pulled off to the side to allow a car to pass and accidentally scraped the person's new (to him) late-model semi-luxury sedan* which was parked poorly given the amount of kids on bikes.
The scrape was superficial (not down to the clear coat), about 3 inches long, on the front quarter panel. My son admitted he did it already and the guy was pleasant, calm, and agreeable and initially offered to 'take care of it now' since it's a brand new car. I don't carry wads of cash or my checkbook so I told him no, I'd offer for him to go through my insurance (he was leaving the next day and was clearly seeking restitution). I took my own pictures of the scrape and then sent him my insurance info. I carefully walked him through how to categorize the incident making it clear they wouldn't do anything if you mention the word 'bike'. We shook hands and that was that.
A few days later I get a call from my insurance noting that the claim has been filed but that they would deny it since he said it was an incident involving a bike and they don't cover bikes on our policy. So I thought that was that.
Yesterday, I get a text asking (not demanding) that we 'work something out'. He lives in Jersey and I in PA. Michigan is a state in which any small claims court suits must be made in person and not by lawyer alone. There was no police or DNR record of the incident and so legally it seems like there's really no obligation to pay him anything. But I'm not a complete jerk and my son definitely did scratch the car.
From what I can tell, a whole new front panel is about $1k painted. So a respray would be a few hundred. But this is also a scratch that any sane person would fix with some buffing, touchup paint, and clear coat. Probably $100 for materials and personal labor.
My questions are-
Do I offer to compensate him at all? If so, what seems reasonable? If no, do I just block his number and move on with life? The guy should have known better bringing a brand new semi-luxury car so a state park with myriad hazards (even my insurance thought it was ridiculous). For all I know he's gonna pocket the money...
*His car was a ~2020 Genesis G70, so almost luxury.