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I would take it to the dealer and have them work up a price list replacing all overstressed components and anything else they advise replacing.
I doubt that you'll be able to convince your insurance to total the car (its all a numbers game to them, and there's no dollar amount on feeling "comfortable" driving an abused car) but at least you can get as many components replaced as you can.
You might also consider consulting with a lawyer specializing in insurance.
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