That doesn't sound fun. Glad you're OK and there's not going to be insurance faff.

I've experienced that as a pedestrian too — drivers trying to direct me to walk out into traffic when I've already gauged the situation and realised it wouldn't be safe. Some of them even seem to get angry when I don't comply! And some of them are insistent to the point of causing an obstruction themselves (e.g. other traffic has pulled up behind them while they're waving their arms at me).