2006 Jeep Wrangler Is my 's frame shifted

I accidentally brushed my Mazda's panel by the tire against my Jeep Wrangler's right back flare and right side of the bumper. It did not cause any damage other than maybe less than a 1/3 inch wide and about five inches long to my Mazda. The picture below is not my car (same make and model, an Rx8 mazda), but it shows where the paint was lost. There is no dents or any other scratches aside from the loss of pain in the area as described. The paint loss is only on the edge that the arrow is pointing. Remember this is not the actual picture of my car's damage. I am not concerned about my Mazda. I am only concerned about my Jeep. I don't have a picture of the Jeep because there is no cosmetic damage.

Looking over my Jeep, there was no cosmetic damage to the flare or bumper aside from the bumper being slightly to the left by less than a quarter inch (over estimating). The flare doesn't have any paint damage or anything. It appears to be perfect. If you look at the Jeep from behind it appears to look align (even the bumper unless you are extremely close like less than a foot away.)The tires look align and so does the body. I am concerned about the frame being shifted due to the bumper being slightly to the left. When my Mazda brushed against the Jeep's flare and bumper I was going less than 5 mph and reversing. (I hadn't actually heard or noticed that I brushed the Jeep until today. When it happened the Jeep did not move, jar, or anything it remained still.) When I turned on the car there was no warning lights or anything. The tires moved when I turned the car's steering wheel, but I did not actually drive it. I have to take this Jeep on a road trip that will last over four hours long without stopping, so I am desperate to know anything prior to Friday. How can I tell if the frame is shifted? Is it safe to drive?

Thanks.