Bite the bullet and take your baby to a good body shop. (Best/cheapest are usually mutually exclusive.)
Birdy's got a point.If the cracks (in the paint coating) are significant, then you could be talking about $1000+ to remove both bumpers and re-do them.
If so, why not wait until you get a few more problems on them? Sounds like you live in a city where you will regularly experience these situations.
I get the same feeling. Even though I know they don't notice it.touch up paint for those, i wouldn,t be able to sleep at night untill it was fixed. every time i drove it i would think people were pointing and laughing.