I am a profesional detailer and it depends on how deep the paint imperfections are, but I highly doubt it needs to be repainted. It would only need to be repainted if the clear coat was burned through exposing the paint layer or worse the grey primer coat, or actual raw plastic on the bumper, which it sounds like it has not.
The dealer most likely just buffed out the area with a heavy cut polish and pad but did not follow it up with a lighter cutting pad and polish, thus leaving swirl marks.
Surprisingly dealers cut major costs by hiring young kids using cheap products to prep their vehicles for delivery.
If it was me I would start by using Meguires M205 polish with a white polishing pad on a rotary buffer, that should do the trick.
If you do not have a rotary buffer and knowledge on how to use it, I would take it to a reputable profesional detailer. Those swirls should come out Pretty easy- as they are only in the very top clear coat layer of the finish.