Ouch! That must hurt I have a feeling you would have to replace that rear plastic peace... Maybe Toyota paint touch up for the front?
I am sure your can try some touch-up paint to cover the blemish, but my experience has been it always ended up looking worse than before if DIY. I would just leave them. Even if you can fix them perfectly, you will get new nicks soon again anyway.
Wait what?? This: A dark plastic piece gets a little scuffing and it's time for new? Forget about it, lol. This one you might try the touch up paint; and no need to be painstaking, it's so low it'll not get close inspection: For this, a little body filler (Bondo, for example), then apply a dab of mat finish Plasti-Dip? Maybe you can even it stipple it a little when it's partially firmed up:
