I talked to Canyon and they wouldn't do anything with the warranty. According to them, the chainstay protector is designed to shear off and absorb some of the energy, which it did. (There are a couple of dents in the metal piece.) They wanted $1600 for a crash replacement frame, which is quite high. (I paid about $2100 for the whole Shimano 105 bike.) I would have gone with a Carbonda or Velobuild frame instead if it wasn't fixable.
I sanded the area a bit to get a better look at the carbon, and I spent some more time tapping it. There did appear to be a crack running vertically from one of the gouges, and it sounded different right there.
I decided to have it fixed professionally, and I'm glad I did. I went through Moment Bicycles in San Diego, and it ended up being only $180 to fix it and match the paint, and it took less than a week. (The cost was only half of the initial quote!) The paint match is nearly perfect and you can't see any difference when the cranks are back on.
I though about fixing it myself with one of those kits, but for the money I'm glad I didn't. I could not have gotten it nearly as smooth or matched the color, and it probably would have taken me longer with all that I have going on now.