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Debt collector threatening lawsuit over accident I might not have even caused — what do I do?

So I've been sitting on this for months and I'm finally losing sleep over it, so here goes.

About a year and a half ago I got into an intersection collision. I was going straight on what I'm almost certain was my green light, and the other car came through from a cross street. We both told the responding officer the same thing — that we had the green. It was one of those genuinely confusing situations where I still don't know what actually happened.

Here's the part I'm embarrassed about: I didn't have insurance at the time. I know, I know. I was young and broke and kept telling myself nothing bad would happen. Well. It did. I've had insurance ever since and I will never let it lapse again, lesson absolutely learned the hard way.

Because I was uninsured I panicked and told the officer I was at fault, even though I genuinely wasn't sure. He actually seemed skeptical — he didn't cite me for the collision itself, only minor stuff, and he suggested I try to pull the intersection camera footage. I contacted the city and they told me only an attorney could request it. I didn't hire one. Another mistake.

Fast forward a few months: I get a letter from a collections agency saying I owe a pretty significant chunk of money on behalf of the other driver's insurance company for their vehicle damage and related costs. I wrote back asking for documentation. They came back offering to settle for roughly half if I paid within 30 days. I couldn't do it, offered what I could actually afford, they went silent for almost a year.

Now they're back. Same energy. Threatening legal action if I don't settle. I don't know if they're bluffing or if I'm about to get served.

Has anyone dealt with something like this? Do I actually need a lawyer now, or is there still room to negotiate on my own?

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