I work with insurance claims and insurance companies in my job. Not only that, but we have had our roof totaled by hail and had to deal with that, and in a different storm my mother had her roof totaled by hail and we had to deal with that. So, I have experience from both sides of this type of thing. Here is what I would recommend.
First, it is not true that you can not tell if a roof is hail damaged without going up on it. It completely depends on the extent of the damage. Plus, it does not sound like the other roofer was looking at it from the ground. If he was up on the roof next to your house and the houses are close together, then it is plausible that he could have seen damage. In any event, you certainly want someone to climb up and look at the roof before determining the value of the damage or whether it is a total loss.
I would first contact a roofing company and have them take a look at your roof. Use a local established company, not one of the out of state companies that flock in when there is a hail storm. They are not always reputable. You may even be able to select some companies to research and try by looking at the roofer signs that have undoubtedly popped up in yards all over your neighborhood if there is a lot of damage. A tell tale sign for starters is whether they have a local phone number. If they don't, stay away from them. If they were to mess up your roof, you would want to be able to find them locally and have them make it right. Even if the roofing company can't get to your roof for some time due to all the other damaged roofs, usually they can at least have someone come out and give you an opinion on whether it is damaged and an estimate. They want your business, and they know if they don't get out there and give you an estimate, another roofer will. You might even want to get estimates from 2 different companies. That will likely make you feel more comfortable that there is honesty about the roof damage assuming they both come to the same conclusion (or it will tell you that at least one is just trying to get your money). The reason I tell you to call a roofing contractor first is because at least around here, right or wrong, there are insurance companies that will cancel you after you have had 3 claims, regardless of the extent of the claim. As such, you don't want to make a claim unless you know there is damage. Even if they wind up not paying or finding no damage, depending on the company it could be a mark on your claims history. Once one insurer has cancelled you, it makes it alot harder to get insurance from a different company, especially at a comparable premium. Plus, if you have a $2,000 deductible, and it turns out you have minor roof damage in an isolated area that is only $1,000, you wouldn't want to make a claim.
If the roofing company tells you there is damage that exceeds your deductible, then call the insurance company and make a claim. Most roofing companies will have their roofer present to meet the adjuster and show them and go over the damage. This helps ensure that your claim will be properly evaluated. You have to remember that most adjusters aren't and have neer been roofers, and some are more experienced than others. You could draw an adjuster on their first roof claim who knows little to nothing, or you could draw an adjuster who has been doing roofs for years and is highly experienced and accurate. Having your own roofer and an estimate as a starting point, is a good way to support your claim. Further, if you did not get a good adjuster, it helps to keep them honest and paying more attention to your claim if they know that it is supported. You also need to realize that when there are big areas of damage (i.e. a storm hits several neighborhoods), insurance companies sometimes resort to bringing in "catastrophe" adjusters from out of state who may not even be employed by the insurance company. Some of these adjusters are fantastic, some not so much. Plus, when there are hail storms, these adjusters are all very busy, and there are times when some can hurry through inspections and miss things, or undervalue damage. Having a roofer there to point out all the damage, will help facilitate the claim. It is much easier to have things pointed out and included the first time and to have the roofer and insurer collaborate on the evaluation, than to get the insurance company's estimate, determine it is inadequate, and try to get them to change their mind and increase what they are willing to pay. Plus, you are going to have to have a roofer do the work (insurance companies pay, not fix), and if the roofer is not involved from the outset, you always run the risk of the insurance company estimate being completely different then the roofer's estimate, and then you have the problem of getting the insurance to change their mind and give you the full value of the claim.
Good luck. I hope your damage is minor.