It surely depends on multiple factors, including the specific vehicles involved. About 25 years ago I rear-ended a Nissan Ultima with my '94 Toyota 4x4 pickup. The impact didn't feel severe to me but when I got out, I saw that the Nissan was crumpled all the way to the rear window. (It was eventually totaled by her insurance company.) I had several scratches on my front bumper and a single scratch on one fender.