Front Bumper Scraped and Pushed Back, Now rubs on Tire, Anyone Fixed?

The Other day I turning around on a narrow street to back into a driveway, and my front driver wheel fell into an open drainage ditch on the shoulder of the road. The bottom of the bumper hit the ground pretty hard, and I had to get out with 4WD on. After this, I noticed that when I am backing out of the driveway, I now get a rub on the front mudflap. I took some measurements, and the bumper section is pushed back nearly an inch which is surprising since it is hardly noticable on its own.

Has anyone repaired damage like this? I get the feeling the steel support behind the bumper is damaged and I need to remove it and straighten or install a new one. Also considered putting something in to just pry when the front tire and the backside of the bumper to bend it forward.

I have paint damage on the underside, but I am not worried about it since it is not visble while standing, no worth getting it all repainted or replaced.

Drivers Side

Passenger Side, normal

 

If anyone is interested, I did fix the rubbing. Had to remove the inner splash guard, then I took a 2x6 and used the edge of the tire as a fulcrum and pushed and the metal substructure that holds the corner of the bumper. Worked like a charm.