I need a lawyer. Trying to keep from having to go to jail over missing court behind a paperwork issue.

I was charged with driving without insurance. I contacted my insurance company and let them know that my pay got switched from every week to every other week. They said that would be fine. So I go through a road block and they run my info. The insurance company had sent some kind of letter to the dmv. The police officer told me that even though I had proof of insurance, they had to tow my car because they sent thatetter to the dmv. The insurance company took my payment after they sent that letter by the way. So the next day, I switched insurance companies. And I've still maintained insurance since then. Communicating threats. A customer was upset with their jalapeno rolls over the phone. They went to my job and the man said he was going to knock my f****** head off. My response was really? Is that what you're teaching your children (because they were present). I have witnessed that he threatened me, not the other way around. He even stood in my face while I called 911 and corrected my statement while I was talking to the operator. I'm beyond innocent in both of these circumstances. I just need help. And help ASAP. Because I kissed 1 date this passed Friday because I had a family emergency. My older aunt that lives with me fell down our porch steps. And I have the other date tuesday. I just really don't want to go to jail for missing court. Somebody please help me