Don't worry. Car suspension and tyres are very robust and can cope with most of the hazzards thrown at them. Mounting a kerb at parking speed. is hardly going to tax either.

Should reverse in and drive out whenever possible, preferably with the wheels not at too shallow and angle so you don't pinch the sidewall against the edge of the wheel.

From your post this faster drop isn't your normal driving so i wouldn't worry about damage for the odd occurence, if the car bounced enough to do damage then i suspect the underbelly of the car would have hit the kerb, you'd have felt that (its unmistakeable) and you'd be poke nosing underneath to see if anything was damaged.

People do worse to their cars all the time, flying over speed ramps and pot holes, drving hard up onto kerbs etc, then mutter about poor quality when they find they have broken springs, leaking shockers and pregnant tyres.