So a friend of mine came over my house and parked his car slanted on an angle taking up space in two lanes in my driveway. he wasn't parked behind my car directly, but his car was sticking out. Later that night, together, we got in my car to go get something to eat. I pulled out directly behind me and hit the part of his car that was sticking out into my lane. He was in the car with me and didn't notify me that he was so strangely parked. Now he is filing a claim, will my insurance company deny the claim?