Taking the shield off temporarily will not be an issue.
Odds are that if it caused any serious damage under the car you would know by now. If all seems fine then it probably is.
If you can find a colour matched bumper at a wrecker the you may be able to come in under $1K but otherwise it will cost you at least that. You could shop around for a lip that would cover most of that damage for considerably less.
Don't be so glib about the poor raccoon. Think of it's family waiting for it too come home. "Mommy where is daddy with the garbage?"
