There are limitations based as to who owns the vehicle. If I'm not mistaken, in order to do what was mentioned above the vehicle would have to be owned by the business and not the individual.
I tried this when I had my minor collision. Problem is, it is a new vehicle so I doubt they'll know how to take it apart to get to it. I don't think Rivian will walk a third party through it. Also, if in the process something breaks, good luck getting parts from Rivian especially is it is a...
My advise is to shop around. I had a similar incident leading to a dent on that same panel. The two nearest Rivian approved body shops were 4 hours away from me. The first one quoted me $7K which was crazy! The second one fixed it for $3K.
Also, once you find someone to work on it, take...