Natasha, you were working for some crooks - it's plain and simple. They were paying you with a 1099, so you were an independent contractor, so they are going to claim that you were responsible for your own insurance. The twist is that technically you were not an independent contractor according to the law. You seriously need to get an attorney to help you out on this.
We are not qualified to give you legal counsel, and you clearly need it. Please start making some calls, and see if you can find someone to help you. I would get on top of this quick, before you are involved in a lawsuit claiming you are personally liable for that accident.
Without a doubt you need to consult a lawyer as soon as possible.
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If you get into an accident and you find out the company decided they didn't add you to their insurance and let's you know after the accident, what happens? It was discussed that I would drive after I was added to their insurance and later learned that that never took place and I have been driving for them. A unfortunate accident has happened and the company disclosed this to me. Can someone shed some light as to what happens?