looks like some douche backed into you, it was a pickup with a receiver hitch.. I know your pain, I always park away from everybody else! I parked my Marauder one day, its pristine too and some douche decided he wanted to park next to me with his POS,,,then Dinged the **** out of my front fender! ******!!
Since its on the front of the bumper, you could do it a few ways, totally take the bumper apart, remove the Urethane cover and as some others stated heat it from the back side until its fairly hot then place it face down on something real hard now on the back side get a flat plate of metal that is about two inches long and an inch wide that has been heated as well, place it over the spot and get something fairly heavy to set on the metal, let it stand until cool...
If your bumper is like mine and that part is not urethane but metal, again remove the bumper, get a metal hand dolly (for body work) wrap the dolly with a cloth, place it over the dent and use a body hammer on the back side to pound the dent flat again..
Third option, replace it..sorry ... I have a 2019/2020 bumper too,,same color.. now if you want a really cool bumper, look here:
http://backroadproducts.com/heavy-duty-front-bumper-12280rc/ I have this bumper on mine---LOVE IT!