Messed up with insurance after a minor crash in Florida?

So, I was in a car accident in Arizona a while back. Nothing crazy, but my car is pretty banged up. The other driver seemed super cool at first, so I figured we could just handle it ourselves, no cops, no lawyers, just two people being reasonable. Huge mistake. Now their insurance is playing games and trying to pin everything on me.

Now I’m wondering if it’s even worth getting legal help, or is it way too late? When the hell do you know it's time to get a lawyer for this stuff? Is it even worth the hassle or am I just stuck with the bill?