Sue n=both owners and drivers in small claims court.
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I would send both insurance companies a letter demanding payment that includes pictures of the damaged property and an estimate to repair or replace the property. If you hire an attorney, you'll have to pay him to take the case.
You may be able to get an attorney to write a letter for you for a small fee, but in the end, small claims court may be your best bet. In Florida, small claims are $5000 and under, and typically, the rules are somewhat relaxed because so many people represent themselves. Still, you need to prove your case and present evidence of your damages to the court.
Many times, clerks will assist you with filing the paperwork, but it can still be an intimidating process. Try resolving the matter with the insurance companies first, and then decide your way forward.