In a residential setting all motorist are required not proceed through an intersection unless it is safe to do so. On the other hand, when pulling out of a drive way the motorist can only do with it is safe to pull out. There are not enough facts in your post to determine whether the other driver was on the wrong side of the road or if the road was only one lane. Your best is to turn it over to your respective insurance companies to get your cars repaired. If you think you were injured, seek medical attention.
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I agree that your question does not provide enough information to understand the complete picture. This is what you pay insurance premiums for. Get your insurance involved and let the lawyers you've already paid for work it out.
I have been licensed to practice in the State of Oregon since 1990. I am not offering legal advice regarding your question, only general information regarding the law. You are not my client nor am I your attorney unless we sign a retainer agreement.