Glad to hear the best outcome possible in that situation.
A few years ago I was leaving the house in my 69 chevy pickup, it had dual exhaust and was loud...for some reason my golden retriever decided to run along side of me down the road as I was leaving the drive...he started barking at the front tire and next thing I know I feel a big bump in the road...holy shit i just ran over my dog! The dipshit got in front of the truck just enough and wasn't paying attention and he got run over...I stopped and he went limping and whining back across the road and over behind the house and layed down immediately...he had a tire mark right across his rear hip....I figured he had internal injuries and would be dead soon...so i got him to the vet and they did x rays and checked him all out..ended up with no internal injuries but he was sore as hell for a while. He got real lucky....and he never followed me down the road after that ever again either..
Hopefully your dog learned a lesson from this.