As stated above, in sexual abuse cases the statute of limitations is not a bright line. You should talk to a lawyer as soon as possible, as time may be of the essence.
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Whether your car is covered by insurance would be governed by your individual policy. A concern for you is the possibility of a negligent entrustment claim against you if your friend is at fault and the other driver is injured. There are a number of defenses to negligent entrustment, but it is a small concern.
You can make a claim, but there are some insurance issues that would have to be sorted out. Without insurance coverage, you may be able to get a judgment against the driver, but it would not be worth anything if he could not afford to pay it. I would need more information to determine if there is insurance coverage for the accident.