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I am sorry to hear about this situation. This is a very open-ended question. Are you asking:
1) How do I file a claim?
2) What causes of action can someone in my situation use?
3) What is the liability protection of a state agency?
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A Notice of Claims letter must be sent to the state prior to suit. This is a very complicated matter, and whoever calls you can handle that aspect better.
To sue someone, a complaint is needed. This complaint is normally drafted, and no forms are available for such a specific matter. Forms are simply common pleadings pre-drafted to be filled out; complaints are seldom reduced to forms as each one is unique.
There is a 2 year statute of limitations for Minnesota defamation causes of action. However, note that someone in your situation may have other causes of action to add to the complaint, including but not limited to malicious prosecution, false imprisonment, and/or abuse of process, depending on the situation.