If you did not get insurance and your own insurance will not cover it, than you have to pay the damages. If the other person was at fault you could consult with a FL attorney to sue them. You have to have insurance at the moment of impact not purchase it afterwards and expect it to pay. Good luck to you. See a FL lawyer for your remedies.
The best move would be to contact a lawyer in your State. From the facts I cannot advise you what to do. Additionally, you need a lawyer in your State to properly negotiate with the insurance company and review the releases. Good luck
It is not too soon. After an accident it is never too soon to consult with and retain an attorney. Fortunately for you , the law allows for recovery for aggravation of a preexisting condition. There are several jury instructions on this issue which are quite helpful for the injured party. You have to address the one year back rule, so it is important you hire an attorney in this matter.
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The case would be treated as a malpractice case. You would need to establish that the Midwife fell below the minimum competency level of a midwife. The damages suffered to be permanent and over $100,000.00 for most malpractice attorneys to consider it. This is because of the expense of medical malpractice cases. I would also caution you that in our State of Michigan there is a two year statute of limitations, so you need to call an attorney in FL and find out the statute of limitations at once.
What happens is that a personal representative is appointed for the estate of your late father in law. The personal representative makes the decisions for the estate. No you cannot bring a separate action because the Estate represents all the interested parties in the litigation.