Your facts are confusing and not clear. It is unclear how many vehicles were involved in the accident and which claims were settled when you settled your UM claim. You may have no surviving claims. Estoppel usually requires that you take some action to your detriment based upon facts which were falsely represented when you had no way of learning the true set of facts. It is unclear if that doctrine might apply. If you have not consulted an attorney regarding your UM claim and the claims you’re presently asserting, you should do so now.
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Consult and hire an attorney to investigate and get to the bottom of this mess.
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think you have another problem. if you settled um claim, then um carrier arguably has a right to collect back anything you obtain from any other party, especially one who is vicariously liable for the party you claimed was uninsured. Check the policy langauge in the um policy on this.
If you settled with your carrier under the UM policy, you very well may be precluded from pursuing your own action against the UM driver. You cannot take any action adverse to your own insurance carriers ability to recoup its losses from the UM. Consult an attorney for your case specifics