Assuming there were no dedicated turn lanes with arrows, you both had the green light. You had the right-of-way. Your eyewitness seals the deal. Good luck.
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Was the police called to the scene and did the officer make a determination as to fault.
Your eye witness is very helpful and from the facts given is seems that the other vehicle failed to yield the right of way to you since you had the green light.
You should speak to a local car accident attorney to assist in your investigation and any potential claims for losses.
This answer does not constitute legal advice. I am admitted to the Florida Bar only and make no attempt to provide opinions on legal issueas that are not relevant to that state. This advice is based on general principles of law and ethics that may or may not relate to your specific situation. You should not solely rely on this advice and nothing in these communications creates an attorney client relationship
As a general rule, you have the right of way and the other car, entering your lane of travel, must yield to you. The insurance company may assess some comparative fault on your part because you hit the rear of his vehicle, indicating that the other car was almost through the turn. However, the other party is more than 50% at fault and should be deemed responsible for this accident.