>>That the car that did have right of way can be gracious does not mean that the fault no longer lies with the car that did not have right of way.
Depending on circumstances, they can charge (or more likely the insurance company will assign fault to) the driver “who had the last opportunity to prevent the accident”.
As an example, a guy is moving into your lane. You have the right of way, so you stand your ground and do not back off and he hits you with his side impacting the front corner of your car. Later, you tell the cop that you saw him coming over and held your ground because he had no business entering your lane. The damage shows that your front bumper hit the side of his car. You are at fault.
Problem solved.