Paintless dent removal is the way to go if you can. Same thing happened to mine - I backed into my motorcycle handlebar end in the garage and the trunk lid got a small dent about the size of a pea. It was only noticeable at certain angles but once you saw it, you couldn't miss it.
The PDR guy removed the inner liner, did his magic, and now the dent is totally gone. $150 USD, and like you say, a bargain.
I was sick to my stomach when it happened, but so happy after he fixed it without repainting that I would have paid double what I did...