Car accident, PIP exhausted, at fault party does not have bodily injury coverage

My dad was in a car accident a few months ago. We are in Florida. The at fault party ran a stop sign and they collided; the air bags went off and his car was a total loss. He went to the ER via ambulance and a full work up and CT scans were done. Thankfully, he is okay and injuries are minor but had a sprained thumb and is still having neck and back pains. He has also gone to PT a few times.

As far as insurance, the other party has State Farm and sent a letter stating they do not have bodily injury coverage. His insurance (All State) recently sent a message stating the PIP has been exhausted from the ER visit. This is our first more serious accident and pretty new to all of this. We do not have uninsured motorist coverage... didn't really know what all these terms were before this and didn't realize our insurance was opted out of this. I asked All State for a signed uninsured motorist rejection letter and they keep giving me the run around and then said policy forms must be requested through my attorney to the claims department. We don't have an attorney yet...

There is still the ambulance bill, CT bill, and PT visits that was not covered by PIP in addition to future visits since he is still in pain. He has health insurance but just wondering where to go from here. Do I have to contact his health insurance to get them to cover the rest of the bills? Is it advisable/worth it to get a lawyer?