Hi OP, I think you are doing the right thing talking to the attorney. But it really sounds like you need to put the car in her name and make her pay for her own liability.
But you should have a discussion with her and tell her this:
1. You are putting the car in her name, and she will be responsible for her own policy.
2. The only policy she can probably afford is liability, so if she (or he) crashes the car, its gone. No more car. (This might incent her to find a way to make more money, but I don't know the whole situation so she might be at her max earning potential.)
3. If the car gets crashed, you are not paying to fix or replace it. (This does stink since you paid for the car originally, but it is the sacrifice in the situation).
4. You are doing this because he can't be trusted not to drive the car, and if the car is in your name and on your policy, you and your husband could lose everything.
5. If SHE lets him drive the car and he crashes, she could lose everything too.
It sounds like you have had some ongoing issues with her and the car. I don't think this conversation is going to make her see the light, so you can keep things as is and she won't let him drive the car. But she is 20, and should be able to handle an adult conversation about the responsibilities of a car.
Make sure you highlight that she is on her own, and when the car is gone, its gone. I get that you are trying to help your daughter out and help her get a good start to adulthood. It's hard when the kid doesn't want to help themselves.