Drove off of Curb then Red Triangle, VSC, (!), and MFD Drivetrain warning came on

Even if there were no codes and "everything seemed fine," I would strongly suggest you have a competent mechanic, look at the car -- especially the undercarriage, sway/torsion bars, etc., because some of that stuff can be easily messed up and throw no codes and have no obvious signs of trouble until something comes apart at high speed or you wear out your tires in 3,000 miles.

Been there, done that, more than once....

 

Welcome to PriusChat! Great advice from the many experts here, and, bearing in mind the low ground-clearance of the Prius, the only thing this (non-expert) can recommend is to write a stern note to yourself: "Self! …take extra care when driving off kerbs!" (sorry, but someone had to say it! ) Good luck, and I think you've come to the perfect place for all things Prius-related!

 

maybe damaged a wheel speed sensor.

 

A failed wheel sensor is a reasonable possibility since the VSC and ((!)) lights are on. The impairment of the skid control ECU results in the warning icon in the MFD.

Given all of those warning lights, there definitely are DTC that can be retrieved. Get Mini VCI if you wish to DIY.

 

I highly doubt running off a curb is going to destroy your HV batt. I think the wheel sensor or bad connection (something got jarred loose) theories are far more likely.

The best way to know for sure is to get the codes pulled by someone with a Toyota scanner (dealership will charge $100 for this, most likely, but sometimes you can talk them into a free scan. I usually go to a local Toyota mechanic with whom I have built some rapport and where there is mutual trust). You're not going to know much of anything until you have the codes.