Is there any way of a civil compromise without being punished?

I hit and run a parked car unknowingly 9 months ago at a mall parking structure. My car was marked, I got pulled over, and cited for hit and run a week after. I never received a court letter, and I contacted my insurance asking if the second party had contact my insurance carrier but he had said no one did. In march when i was out of state for a vacation my mother said some cops stopped by looking for me because I was a witness of a car accident. As soon as I got back home I tried contacting the police department to see what that was about since the officers didn't leave their name/info. They gave me no answers. In July I called the cops for help because of a fight and then I got arrested because they said I had an warrant for my arrest. I spent a day in jail, had a trial, and was rearrange for another court date for 9/19. The public defender said if the officer that cited me can prove that I had insurance (I do) at the time of the scene then they can try to give me an infraction, as of now it's a misdemeanor. My question is, should i get a lawyer? Bring in proof of insurance and my call log of the time I tried contacting the police department? What should I expect?