Here's a quick and easy way to do the insurance glitch, just in case anyone is still glitching their cars into their garage the second time around
1. Pick any vehicle that you have insured, you will lose this vehicle in the end so pick carefully.
2. Drive this vehicle out of your garage, blow it up.
3. Go back into your garage on foot, and wait for your wanted level to disappear, once gone, hop in your Car that you want insured and call Mors Mutual, but do NOT accept the charge just yet.
4. Accelerate forwards until you see a black screen on the way out of your garage.
5. Once you see the black screen, immediately start pressing X until you roll out of your garage, and you see that you have paid for your insurance. The car is now insured
6.Drive the car out a little ways from your garage, not far at all, and go to the playstation store.
7. Back out of the PS Store, and you will spawn next to your garage on foot.
8.Re-enter garage on foot, get in a random vehicle
9. Drive this random vehicle out, then back in again.
10. You now have two versions of your car, one will be fully insured, the other you can blow up and replace your original vehicle which was blown up
10b. The Insured car will be in the position of the vehicle that you originally destroyed. the non-insured car will be in the same position as the car was before starting this glitch.
Hope this helps!