DearCustomer- Your daughter is legally an adult and unless you are an attorney you could not represent her in a legal matter. The insurance company is permitted to deal directly with her unless she has an attorney which is what she should do. Almost all attorneys who handle personal injury claims will work on a contingency basis so there would be no up front fees involved.
Being under 21 means nothing when it involves a legal contract or cause of action so though she is living at home she is legally considered an adult. The best thing she can do is get legal representation to handle this situation and get the money she deserves to cover her legal expenses and pain and suffering.
No I do not agree with them. Insurance companies are ruthless and very difficult to deal with. Neither you nor your daughter will be able to get the settlement you deserve unless you have representation. They will tell you anything and end up offering far less than what your daughter deserves. They have no obligation to talk to you and they know your daughter is young and they can "railroad" her. She needs a personal injury lawyer to take her case and provide proper representation.
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