Those ROPS on a Pioneer are junk once you bend them. For real protection anyways. I bought a rear cage for mine when i bent the driver rear section on mine in a flop. But I haven't had a rear passenger in 7 years, I opted to not use the new rear cage. My machine looks like trash but is still mechanical decent with over 18k miles of abuse lol.
No to be pedantic, but the OP's post implied that he had coverage for collision as well, but was hesitant to "take the hit on the claim". That sort of suggests he had comprehensive coverage, as if it were liability only, and there were no injuries or damage to others, there would be no basis for a claim.
Id recommend getting the bed off, as much plastic, etc. and cleaned up to really see what you are dealing with - looked for obviously bent stuff, cracked paint, etc…. Should be able to bend, pull, fix, etc. but really need to see why the door is stuck.
