Any armour plates which have taken a hit must be replaced. If you've been down the road on your jacket / trousers the odds are the waterproofing will have gone. If the boots have taken an impact from the bike landing on them, bearing in mind the materials used, they may not be fit for another impact - carbon fibre is brittle and may have suffered cracks which aren't visible. Boots which protect against side on crush by having a hard, rubber sole wider than the foot may not need replacing.
My insurance claim post accident covered:
new helmet - old one undamaged but a neck injury caused by the accident meant it was too heavy
jacket - minimal external abrasions but weatherproofing damaged
trousers - ripped apart... still waterproof but protective layer damaged.
boots - usable but significant cosmetic damage and waterproofing damaged
gloves - leather pads on palms abraded.
If an area with extra abrasion protection such as gloves has what appears to be "cosmetic" damage to it, then it means the friction of the accident has removed some of the protection afforded by the extra padding. If your jacket has been down the road - do you really expect they test the stitching to see if it'll last twice?
Cosmetic damage shows that the area in question has been subject to shock or abrasion forces and therefore it's capacity to protect again can be questioned. Replace it. If the insurance company won't budge because it's "cosmetic" then argue the above. If they won't replace it, do it yourself as it's not worth the risk.