A few things to consider:
If you do something that hinders whatever action your insurance company plans to take they could hold you responsible in the future.
Whether or not you were actually legally parked or not is a matter for a judge to decide, not a cop. Cops make mistakes, judges are supposed to make none to very few...
I'd pick up my car and thank the insurance company. Notify the trucking company that your end is satisfied under your uninsured motorist policy and any further correspondence from them will be considered harassment and turned over to the authorities as such. The trucking company now has to deal with your insurance company and its lawyers, as they are the ones that sustained a loss, not you.