Motoring conviction and ESTA

Hi,

I have a conviction for a motoring offense from 2018: AC10 Failing to stop after an accident. Its for a really minor scrape of a parked car in parking lot.
Later on in 2020, I obtained a police certificate from ACRO as I wanted to apply for a US visa (did not apply in the end due to covid). Police certificate says 'No Trace'. I called ACRO office as I understood AC10 is a 'recordable offence'. They said, recordable offences are sometimes not recorded if they are very minor in nature.
I am about to get British citizenship and passport soon.
If I wish to travel to US, do I
1. Answer yes/no in the the convictions section of ESTA application?
2. If I dont get an ESTA and do apply for a visa, any chance I may be refused?

Thanks for any input you may have!