Airbag Light, do you always need a new airbag? Options

[VavAlephVav]

so the airbag light has always been on since I got this thing last year, and the guy I bought it from said it was because of this plug on the front right sensor



but I can see the metal bumper up under the bumper cover has been punched in, but not quite far enough to break the condenser or radiator and my alignment is straight.








is it possible the airbags didn't go off? im pretty sure the passenger one didn't because its the stock windshield.
but do you pretty much have to take it to Toyota to get it checked out or is there anyway to at least verify what the problem is? none of the CEL codes I get are for the airbag systems