So should I initiate the contact to: -get "us" out of our truck lease and have her make arrangements to get her own vehicle? -call insurance company to call her to set up her own insurance (or tell W to call them)?
yes yes yes --as in Puppy
These are common sense approaches to protect yourself financially. I am not sure if you can get out of the truck lease without a large penalty at the end. Is there any way you can take over the lease yourself and remove W's name on the lease? After all you do need your own transportation. I am not sure how many cars/trucks you have at the moment. If you can take over the lease yourself, just need to make that call to the insurance company yourself and notify them that you will be the sole policy holder. May need to sign some documents to the effect.
Go and make these calls yourself to find out what your options are before contacting the W. Get educated about the process.