https://a.co/d/0aRLYNRa Try this or a similar light scratch blemish remover to buff off any paint transfer. Deep scratches won't come off but it will make the eye-sore less noticeable. For a like-it-never-happened restoration you're looking at either a replacement bumper from a salvage yard or hiring a mobile scratch and dent repair pro - if available in your region - who can sand, prep and correctly color match the affected area for ~200-400 $US.
