IMO insurance should be optional, but if you do cause someone damage then you should simply be liable to pay for the damages out of pocket. Simple.
As someone who drives a car that would be beyond someone living paycheck to paycheck to pay to repair, no, it shouldn’t be. That’s a recipe for financial ruin to most folks if at fault of an accident, and a having to deal with a lawsuit for the not at fault party.
Some places allow for a surety bond instead of insurance, but that’s only really an option for the wealthy since you have to be able to cover damages yourself.