How can I heal from a bulging disc injury?

Yes. Bulging discs are part of aging. They are harmless for the most part. They can pop out after an injury but most of them just pop out just like that (without any significant trauma). Yes, they often "heal" themselves - and will not be visible on a followup MRI a year or so later. In general, discs degenerate and shrink over the years that's why we get shorter when we get older.