Should I hire an attorney regarding a car accident?

Question Details: I got into an accident while driving a rental box truck. I was the approved driver but my brother-in-law signed the official rental agreement. His and my insurance companies are both declining to cover anything. The rental truck company will only meet the state minimums required by law, however those will apparently not cover all the damages. The one driver has hired an attorney and is claiming injury. This attorney tried to contact me but they have not filed anything officially with my insurance company. Should I be worried about being sued for damages and injuries. My adjuster seems to think I shouldn't worry. I'm also not sure if I should retain an attorney. Thought I was doing everything right, now scared I could lose big over a fender bender.

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