Require impairment after accident?

Assuming that a vehicle was initially paid and repaired by its own insurance company due to unclear legal situation, the damage report does not report any impairment. After clarification of the facts, the insurance of the accident opponent takes over the damage, but pays nothing of the impairment. Now, within the statutory limitation period due to the accident and expert reports, one could demand the mercantile impairment of the vehicle from the insurance company, whether or not l the vehicle has already been repaired?