Go for it, fella. You don't want to understand what everyone is telling you. Get a lawyer.
When they fire you, and you file for unemployment, the employers have to show that they had a valid misconduct reason to terminate you to keep you from drawing benefits. You need to be sure they don't have this before you try to goad them into firing you.
What's to guarantee that they don't use your co-worker's version of the parking lot story and the unemployment system finds it believable and denies your benefits? And no, you can't sue her (or your employer)in small claims court if you don't get approved for unemployment.