A: Your question raises all kinds of red flags. How did you come into so much money so quickly after a bankruptcy? You really really need to speak to an attorney eye to eye on this. It may be perfectly legit. But, you need to make sure.
A: Exemption in bankruptcy are identical to exemptions against creditors as they are the same laws for Missourians. Can not predict how a particlar trustee or creditor atty will act. Look up your vehicle on nada.com for more accurate valuatuon. Then talk to an atty.
A: If your "special needs" child has permanent problems requiring long term or even life long medical treatment, then a bankruptcy is only a temporary band-aid. All medical bills incurred after the date of filing are not included.
Bankruptcy can be a solution, IF, you can find a way to deal with future medical expenses. Caveat: This is a general answer. This may not apply 100% to you, as I know very little about your situation. The trust could be a big factor here.
If you are employed and subject to garnishment, you may be forced into it at some time. Right now, you need to be working on a solution to pay your child's bills.
You really need to make an appointment with a bankruptcy attorney before making a final decision. The counselors are not attorneys, and although they have a lot of knowledge, you should still get a detailed review.
BTW: as trustee (not trustor or grantor), the trust assets are not yours and do not become part of the bankruptcy estate or subject to creditors attempts to collect a judgment. They will when your parents die and if you are beneficiary. Something important for your attorney to take into account.