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At-fault driver's insurance denied me without ever looking at my car — is this even legal?

So I got rear-ended at a red light about six weeks ago. Pretty clear-cut situation — I was completely stopped, other driver plowed into me. Damage to my rear end was significant, and I had neck pain that sent me to urgent care the same day.

I filed a claim with the at-fault driver's insurance right away. About two weeks later I get a letter basically saying they're denying my claim because it's "he said / she said" with no evidence to support either party's account. They sided with their own insured. Fine, whatever, I kind of expected some pushback.

But here's what's blowing my mind — they never once asked to inspect my vehicle. Nobody came out. Nobody requested photos. Nobody asked for my urgent care records. They just... decided. Based on what, exactly?

My car is still sitting with visible crumple damage on the rear bumper and trunk. Wouldn't that damage pattern actually tell a story about how the impact happened? Like, isn't physical evidence... evidence?

I'm also in an awkward spot because I was driving a borrowed vehicle from a family member, so the insurance situation is a little complicated. My own policy covers me as a driver but I'm not sure how aggressively they'll go to bat for me against the other carrier.

Do I have to specifically request that they come inspect the car? Do I need to get an independent damage assessment myself and send it to them? I feel like I'm supposed to magically know all these steps that nobody tells you about.

Has anyone successfully pushed back after an initial denial like this? What actually moved the needle for you?

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